Formatting and comments
Frank Dellaert
parent
ffb282931c
commit
cd46bfa363
|
|
@ -17,51 +17,53 @@
|
|||
**/
|
||||
#pragma once
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
#include <gtsam/geometry/Pose3.h>
|
||||
#include <gtsam/geometry/Unit3.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
/**
|
||||
* Base class for prior on attitude
|
||||
* Example:
|
||||
* - measurement is direction of gravity in body frame bF
|
||||
* - reference is direction of gravity in navigation frame nG
|
||||
* This factor will give zero error if nRb * bF == nG
|
||||
* @class AttitudeFactor
|
||||
*
|
||||
* @brief Base class for an attitude factor that constrains the rotation between
|
||||
* body and navigation frames.
|
||||
*
|
||||
* This factor enforces that when a known reference direction in the body frame
|
||||
* (e.g., accelerometer axis) is rotated into the navigation frame using the
|
||||
* rotation variable, it should align with a measured direction in the
|
||||
* navigation frame (e.g., gravity vector).
|
||||
*
|
||||
* Mathematically, the error is zero when:
|
||||
* nRb * bRef == nZ
|
||||
*
|
||||
* This is useful for incorporating absolute orientation measurements into the
|
||||
* factor graph.
|
||||
*
|
||||
* @ingroup navigation
|
||||
*/
|
||||
class AttitudeFactor {
|
||||
|
||||
protected:
|
||||
|
||||
Unit3 nZ_, bRef_; ///< Position measurement in
|
||||
|
||||
public:
|
||||
|
||||
/** default constructor - only use for serialization */
|
||||
AttitudeFactor() {
|
||||
}
|
||||
AttitudeFactor() {}
|
||||
|
||||
/**
|
||||
* @brief Constructor
|
||||
* @param nZ measured direction in navigation frame
|
||||
* @param bRef reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])
|
||||
* @param nZ Measured direction in the navigation frame (e.g., gravity).
|
||||
* @param bRef Reference direction in the body frame (e.g., accelerometer
|
||||
* axis). Default is Unit3(0, 0, 1).
|
||||
*/
|
||||
AttitudeFactor(const Unit3& nZ, const Unit3& bRef = Unit3(0, 0, 1)) :
|
||||
nZ_(nZ), bRef_(bRef) {
|
||||
}
|
||||
AttitudeFactor(const Unit3& nZ, const Unit3& bRef = Unit3(0, 0, 1))
|
||||
: nZ_(nZ), bRef_(bRef) {}
|
||||
|
||||
/** vector of errors */
|
||||
Vector attitudeError(const Rot3& p,
|
||||
OptionalJacobian<2,3> H = {}) const;
|
||||
Vector attitudeError(const Rot3& p, OptionalJacobian<2, 3> H = {}) const;
|
||||
|
||||
const Unit3& nZ() const {
|
||||
return nZ_;
|
||||
}
|
||||
const Unit3& bRef() const {
|
||||
return bRef_;
|
||||
}
|
||||
const Unit3& nZ() const { return nZ_; }
|
||||
const Unit3& bRef() const { return bRef_; }
|
||||
|
||||
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
|
||||
/** Serialization function */
|
||||
|
|
@ -78,12 +80,11 @@ public:
|
|||
* Version of AttitudeFactor for Rot3
|
||||
* @ingroup navigation
|
||||
*/
|
||||
class GTSAM_EXPORT Rot3AttitudeFactor: public NoiseModelFactorN<Rot3>, public AttitudeFactor {
|
||||
|
||||
class GTSAM_EXPORT Rot3AttitudeFactor : public NoiseModelFactorN<Rot3>,
|
||||
public AttitudeFactor {
|
||||
typedef NoiseModelFactorN<Rot3> Base;
|
||||
|
||||
public:
|
||||
|
||||
// Provide access to the Matrix& version of evaluateError:
|
||||
using Base::evaluateError;
|
||||
|
||||
|
|
@ -94,11 +95,9 @@ public:
|
|||
typedef Rot3AttitudeFactor This;
|
||||
|
||||
/** default constructor - only use for serialization */
|
||||
Rot3AttitudeFactor() {
|
||||
}
|
||||
Rot3AttitudeFactor() {}
|
||||
|
||||
~Rot3AttitudeFactor() override {
|
||||
}
|
||||
~Rot3AttitudeFactor() override {}
|
||||
|
||||
/**
|
||||
* @brief Constructor
|
||||
|
|
@ -108,9 +107,8 @@ public:
|
|||
* @param bRef reference direction in body frame (default Z-axis)
|
||||
*/
|
||||
Rot3AttitudeFactor(Key key, const Unit3& nZ, const SharedNoiseModel& model,
|
||||
const Unit3& bRef = Unit3(0, 0, 1)) :
|
||||
Base(model, key), AttitudeFactor(nZ, bRef) {
|
||||
}
|
||||
const Unit3& bRef = Unit3(0, 0, 1))
|
||||
: Base(model, key), AttitudeFactor(nZ, bRef) {}
|
||||
|
||||
/// @return a deep copy of this factor
|
||||
gtsam::NonlinearFactor::shared_ptr clone() const override {
|
||||
|
|
@ -123,7 +121,8 @@ public:
|
|||
DefaultKeyFormatter) const override;
|
||||
|
||||
/** equals */
|
||||
bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;
|
||||
bool equals(const NonlinearFactor& expected,
|
||||
double tol = 1e-9) const override;
|
||||
|
||||
/** vector of errors */
|
||||
Vector evaluateError(const Rot3& nRb, OptionalMatrixType H) const override {
|
||||
|
|
@ -131,16 +130,16 @@ public:
|
|||
}
|
||||
|
||||
private:
|
||||
|
||||
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
|
||||
/** Serialization function */
|
||||
friend class boost::serialization::access;
|
||||
template <class ARCHIVE>
|
||||
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
|
||||
// NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
|
||||
ar & boost::serialization::make_nvp("NoiseModelFactor1",
|
||||
boost::serialization::base_object<Base>(*this));
|
||||
ar & boost::serialization::make_nvp("AttitudeFactor",
|
||||
ar& boost::serialization::make_nvp(
|
||||
"NoiseModelFactor1", boost::serialization::base_object<Base>(*this));
|
||||
ar& boost::serialization::make_nvp(
|
||||
"AttitudeFactor",
|
||||
boost::serialization::base_object<AttitudeFactor>(*this));
|
||||
}
|
||||
#endif
|
||||
|
|
@ -150,7 +149,8 @@ public:
|
|||
};
|
||||
|
||||
/// traits
|
||||
template<> struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFactor> {};
|
||||
template <>
|
||||
struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFactor> {};
|
||||
|
||||
/**
|
||||
* Version of AttitudeFactor for Pose3
|
||||
|
|
@ -158,11 +158,9 @@ template<> struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFacto
|
|||
*/
|
||||
class GTSAM_EXPORT Pose3AttitudeFactor : public NoiseModelFactorN<Pose3>,
|
||||
public AttitudeFactor {
|
||||
|
||||
typedef NoiseModelFactorN<Pose3> Base;
|
||||
|
||||
public:
|
||||
|
||||
// Provide access to the Matrix& version of evaluateError:
|
||||
using Base::evaluateError;
|
||||
|
||||
|
|
@ -173,11 +171,9 @@ public:
|
|||
typedef Pose3AttitudeFactor This;
|
||||
|
||||
/** default constructor - only use for serialization */
|
||||
Pose3AttitudeFactor() {
|
||||
}
|
||||
Pose3AttitudeFactor() {}
|
||||
|
||||
~Pose3AttitudeFactor() override {
|
||||
}
|
||||
~Pose3AttitudeFactor() override {}
|
||||
|
||||
/**
|
||||
* @brief Constructor
|
||||
|
|
@ -187,9 +183,8 @@ public:
|
|||
* @param bRef reference direction in body frame (default Z-axis)
|
||||
*/
|
||||
Pose3AttitudeFactor(Key key, const Unit3& nZ, const SharedNoiseModel& model,
|
||||
const Unit3& bRef = Unit3(0, 0, 1)) :
|
||||
Base(model, key), AttitudeFactor(nZ, bRef) {
|
||||
}
|
||||
const Unit3& bRef = Unit3(0, 0, 1))
|
||||
: Base(model, key), AttitudeFactor(nZ, bRef) {}
|
||||
|
||||
/// @return a deep copy of this factor
|
||||
gtsam::NonlinearFactor::shared_ptr clone() const override {
|
||||
|
|
@ -202,7 +197,8 @@ public:
|
|||
DefaultKeyFormatter) const override;
|
||||
|
||||
/** equals */
|
||||
bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;
|
||||
bool equals(const NonlinearFactor& expected,
|
||||
double tol = 1e-9) const override;
|
||||
|
||||
/** vector of errors */
|
||||
Vector evaluateError(const Pose3& nTb, OptionalMatrixType H) const override {
|
||||
|
|
@ -216,16 +212,16 @@ public:
|
|||
}
|
||||
|
||||
private:
|
||||
|
||||
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
|
||||
/** Serialization function */
|
||||
friend class boost::serialization::access;
|
||||
template <class ARCHIVE>
|
||||
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
|
||||
// NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
|
||||
ar & boost::serialization::make_nvp("NoiseModelFactor1",
|
||||
boost::serialization::base_object<Base>(*this));
|
||||
ar & boost::serialization::make_nvp("AttitudeFactor",
|
||||
ar& boost::serialization::make_nvp(
|
||||
"NoiseModelFactor1", boost::serialization::base_object<Base>(*this));
|
||||
ar& boost::serialization::make_nvp(
|
||||
"AttitudeFactor",
|
||||
boost::serialization::base_object<AttitudeFactor>(*this));
|
||||
}
|
||||
#endif
|
||||
|
|
@ -235,7 +231,7 @@ public:
|
|||
};
|
||||
|
||||
/// traits
|
||||
template<> struct traits<Pose3AttitudeFactor> : public Testable<Pose3AttitudeFactor> {};
|
||||
|
||||
} /// namespace gtsam
|
||||
template <>
|
||||
struct traits<Pose3AttitudeFactor> : public Testable<Pose3AttitudeFactor> {};
|
||||
|
||||
} // namespace gtsam
|
||||
|
|
|
|||
Loading…
Reference in New Issue