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Updated documentation for PartialPriorFactor - needs to have implementation switched to only requiring manifold/group operations, rather than Lie

release/4.3a0
Alex Cunningham 2012-06-05 17:20:18 +00:00
parent e01a320efa
commit cc79d3d524
1 changed files with 8 additions and 7 deletions
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15
gtsam/slam/PartialPriorFactor.h
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@ -28,15 +28,12 @@ namespace gtsam {
* *
* The prior vector used in this factor is stored in compressed form, such that * The prior vector used in this factor is stored in compressed form, such that
* it only contains values for measurements that are to be compared, and they are in * it only contains values for measurements that are to be compared, and they are in
* the same order as T::Logmap(). The mask will determine which components to extract * the same order as VALUE::Logmap(). The mask will determine which components to extract
* in the error function. * in the error function.
* *
* It takes two template parameters:
* Key (typically TypedSymbol) is used to look up T's in a Values
* Values where the T's are stored, typically Values<Key> or a TupleValues<...>
*
* For practical use, it would be good to subclass this factor and have the class type * For practical use, it would be good to subclass this factor and have the class type
* construct the mask. * construct the mask.
* @tparam VALUE is the type of variable the prior effects
*/ */
template<class VALUE> template<class VALUE>
class PartialPriorFactor: public NoiseModelFactor1<VALUE> { class PartialPriorFactor: public NoiseModelFactor1<VALUE> {
@ -46,12 +43,15 @@ namespace gtsam {
protected: protected:
// Concept checks on the variable type - currently requires Lie
GTSAM_CONCEPT_LIE_TYPE(VALUE)
typedef NoiseModelFactor1<VALUE> Base; typedef NoiseModelFactor1<VALUE> Base;
typedef PartialPriorFactor<VALUE> This; typedef PartialPriorFactor<VALUE> This;
Vector prior_; ///< measurement on logmap parameters, in compressed form Vector prior_; ///< measurement on tangent space parameters, in compressed form
std::vector<size_t> mask_; ///< indices of values to constrain in compressed prior vector std::vector<size_t> mask_; ///< indices of values to constrain in compressed prior vector
Matrix H_; ///< Constant jacobian - computed at creation Matrix H_; ///< Constant Jacobian - computed at creation
/** default constructor - only use for serialization */ /** default constructor - only use for serialization */
PartialPriorFactor() {} PartialPriorFactor() {}
@ -111,6 +111,7 @@ namespace gtsam {
if (H) (*H) = H_; if (H) (*H) = H_;
// FIXME: this was originally the generic retraction - may not produce same results // FIXME: this was originally the generic retraction - may not produce same results
Vector full_logmap = T::Logmap(p); Vector full_logmap = T::Logmap(p);
// Vector full_logmap = T::identity().localCoordinates(p); // Alternate implementation
Vector masked_logmap = zero(this->dim()); Vector masked_logmap = zero(this->dim());
for (size_t i=0; i<mask_.size(); ++i) for (size_t i=0; i<mask_.size(); ++i)
masked_logmap(i) = full_logmap(mask_[i]); masked_logmap(i) = full_logmap(mask_[i]);