diff --git a/gtsam/navigation/BarometricFactor.cpp b/gtsam/navigation/BarometricFactor.cpp index 82293d49c..0fcdc6180 100644 --- a/gtsam/navigation/BarometricFactor.cpp +++ b/gtsam/navigation/BarometricFactor.cpp @@ -23,30 +23,31 @@ using namespace std; namespace gtsam { //*************************************************************************** -void BarometricFactor::print(const string& s, const KeyFormatter& keyFormatter) const { - cout << (s.empty() ? "" : s + " ") << "Barometric Factor on " << keyFormatter(key1()) - << "Barometric Bias on " << keyFormatter(key2()) << "\n"; +void BarometricFactor::print(const string& s, + const KeyFormatter& keyFormatter) const { + cout << (s.empty() ? "" : s + " ") << "Barometric Factor on " + << keyFormatter(key1()) << "Barometric Bias on " + << keyFormatter(key2()) << "\n"; - cout << " Baro measurement: " << nT_ << "\n"; - noiseModel_->print(" noise model: "); + cout << " Baro measurement: " << nT_ << "\n"; + noiseModel_->print(" noise model: "); } //*************************************************************************** -bool BarometricFactor::equals(const NonlinearFactor& expected, double tol) const { - const This* e = dynamic_cast(&expected); - return e != nullptr && Base::equals(*e, tol) && traits::Equals(nT_, e->nT_, tol); +bool BarometricFactor::equals(const NonlinearFactor& expected, + double tol) const { + const This* e = dynamic_cast(&expected); + return e != nullptr && Base::equals(*e, tol) && + traits::Equals(nT_, e->nT_, tol); } //*************************************************************************** -Vector BarometricFactor::evaluateError(const Pose3& p, - const double& bias, boost::optional H, - boost::optional H2) const { - - if (H2) (*H2) = (Matrix(1,1) << 1.0).finished(); - if(H)(*H) = (Matrix(1, 6) << 0., 0., 0., 0., 0., 1.).finished(); - return (Vector(1) <<(p.translation().z()+bias - nT_)).finished(); +Vector BarometricFactor::evaluateError(const Pose3& p, const double& bias, + boost::optional H, + boost::optional H2) const { + if (H2) (*H2) = (Matrix(1, 1) << 1.0).finished(); + if (H) (*H) = (Matrix(1, 6) << 0., 0., 0., 0., 0., 1.).finished(); + return (Vector(1) << (p.translation().z() + bias - nT_)).finished(); } -//*************************************************************************** - -}/// namespace gtsam +} // namespace gtsam diff --git a/gtsam/navigation/BarometricFactor.h b/gtsam/navigation/BarometricFactor.h index c7330031a..e7bf6f998 100644 --- a/gtsam/navigation/BarometricFactor.h +++ b/gtsam/navigation/BarometricFactor.h @@ -17,9 +17,9 @@ **/ #pragma once -#include -#include #include +#include +#include namespace gtsam { @@ -31,83 +31,79 @@ namespace gtsam { * https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html * @addtogroup Navigation */ -class GTSAM_EXPORT BarometricFactor: public NoiseModelFactor2 { +class GTSAM_EXPORT BarometricFactor : public NoiseModelFactor2 { + private: + typedef NoiseModelFactor2 Base; -private: + double nT_; ///< Height Measurement based on a standard atmosphere - typedef NoiseModelFactor2 Base; + public: + /// shorthand for a smart pointer to a factor + typedef boost::shared_ptr shared_ptr; - double nT_; ///< Height Measurement based on a standard atmosphere + /// Typedef to this class + typedef BarometricFactor This; -public: + /** default constructor - only use for serialization */ + BarometricFactor() : nT_(0) {} - /// shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; + ~BarometricFactor() override {} - /// Typedef to this class - typedef BarometricFactor This; + /** + * @brief Constructor from a measurement of pressure in KPa. + * @param key of the Pose3 variable that will be constrained + * @param key of the barometric bias that will be constrained + * @param baroIn measurement in KPa + * @param model Gaussian noise model 1 dimension + */ + BarometricFactor(Key key, Key baroKey, const double& baroIn, + const SharedNoiseModel& model) + : Base(model, key, baroKey), nT_(heightOut(baroIn)) {} - /** default constructor - only use for serialization */ - BarometricFactor(): nT_(0) {} + /// @return a deep copy of this factor + gtsam::NonlinearFactor::shared_ptr clone() const override { + return boost::static_pointer_cast( + gtsam::NonlinearFactor::shared_ptr(new This(*this))); + } - ~BarometricFactor() override {} + /// print + void print( + const std::string& s = "", + const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override; - /** - * @brief Constructor from a measurement of pressure in KPa. - * @param key of the Pose3 variable that will be constrained - * @param key of the barometric bias that will be constrained - * @param baroIn measurement in KPa - * @param model Gaussian noise model 1 dimension - */ - BarometricFactor(Key key, Key baroKey, const double& baroIn, const SharedNoiseModel& model) : - Base(model, key, baroKey), nT_(heightOut(baroIn)) { - } + /// equals + bool equals(const NonlinearFactor& expected, + double tol = 1e-9) const override; - /// @return a deep copy of this factor - gtsam::NonlinearFactor::shared_ptr clone() const override { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); - } + /// vector of errors + Vector evaluateError( + const Pose3& p, const double& b, + boost::optional H = boost::none, + boost::optional H2 = boost::none) const override; - /// print - void print(const std::string& s = "", const KeyFormatter& keyFormatter = - DefaultKeyFormatter) const override; + inline const double& measurementIn() const { return nT_; } - /// equals - bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; + inline double heightOut(double n) const { + // From https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html + return (std::pow(n / 101.29, 1. / 5.256) * 288.08 - 273.1 - 15.04) / + -0.00649; + }; - /// vector of errors - Vector evaluateError(const Pose3& p, const double& b, - boost::optional H = boost::none, - boost::optional H2 = boost::none) const override; + inline double baroOut(const double& meters) { + double temp = 15.04 - 0.00649 * meters; + return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256); + }; - inline const double & measurementIn() const { - return nT_; - } - - inline double heightOut(double n) const { - //From https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html - return (std::pow(n/101.29, 1./5.256)*288.08 - 273.1 - 15.04)/-0.00649; - - }; - - inline double baroOut(const double& meters) - { - double temp = 15.04 - 0.00649*meters; - return 101.29*std::pow(((temp+273.1)/288.08), 5.256); - }; - -private: - - /// Serialization function - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int /*version*/) { - ar - & boost::serialization::make_nvp("NoiseModelFactor1", + private: + /// Serialization function + friend class boost::serialization::access; + template + void serialize(ARCHIVE& ar, const unsigned int /*version*/) { + ar& boost::serialization::make_nvp( + "NoiseModelFactor1", boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(nT_); - } + ar& BOOST_SERIALIZATION_NVP(nT_); + } }; -} /// namespace gtsam +} // namespace gtsam diff --git a/gtsam/navigation/tests/testBarometricFactor.cpp b/gtsam/navigation/tests/testBarometricFactor.cpp index 3ef0a7c10..47f4824c1 100644 --- a/gtsam/navigation/tests/testBarometricFactor.cpp +++ b/gtsam/navigation/tests/testBarometricFactor.cpp @@ -16,117 +16,114 @@ * @date 16 Dec, 2021 */ -#include +#include #include #include +#include #include -#include - - using namespace std::placeholders; using namespace std; using namespace gtsam; - // ************************************************************************* -namespace example { -} - -double metersToBaro(const double& meters) -{ - double temp = 15.04 - 0.00649*meters; - return 101.29*std::pow(((temp+273.1)/288.08), 5.256); +namespace example {} +double metersToBaro(const double& meters) { + double temp = 15.04 - 0.00649 * meters; + return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256); } // ************************************************************************* -TEST( BarometricFactor, Constructor ) { - using namespace example; +TEST(BarometricFactor, Constructor) { + using namespace example; - //meters to barometric. + // meters to barometric. - double baroMeasurement = metersToBaro(10.); + double baroMeasurement = metersToBaro(10.); - // Factor - Key key(1); - Key key2(2); - SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25); - BarometricFactor factor(key, key2, baroMeasurement, model); + // Factor + Key key(1); + Key key2(2); + SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25); + BarometricFactor factor(key, key2, baroMeasurement, model); - // Create a linearization point at zero error - Pose3 T(Rot3::RzRyRx(0., 0., 0.), Point3(0., 0., 10.)); - double baroBias=0.; - Vector1 zero; - zero<< 0.; - EXPECT(assert_equal(zero, factor.evaluateError(T, baroBias),1e-5)); + // Create a linearization point at zero error + Pose3 T(Rot3::RzRyRx(0., 0., 0.), Point3(0., 0., 10.)); + double baroBias = 0.; + Vector1 zero; + zero << 0.; + EXPECT(assert_equal(zero, factor.evaluateError(T, baroBias), 1e-5)); - // Calculate numerical derivatives - Matrix expectedH = numericalDerivative21( - std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1, - std::placeholders::_2, boost::none, boost::none), T, baroBias); + // Calculate numerical derivatives + Matrix expectedH = numericalDerivative21( + std::bind(&BarometricFactor::evaluateError, &factor, + std::placeholders::_1, std::placeholders::_2, boost::none, + boost::none), + T, baroBias); - Matrix expectedH2 = numericalDerivative22( - std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1, - std::placeholders::_2, boost::none, boost::none), T, baroBias); + Matrix expectedH2 = numericalDerivative22( + std::bind(&BarometricFactor::evaluateError, &factor, + std::placeholders::_1, std::placeholders::_2, boost::none, + boost::none), + T, baroBias); + // Use the factor to calculate the derivative + Matrix actualH, actualH2; + factor.evaluateError(T, baroBias, actualH, actualH2); - // Use the factor to calculate the derivative - Matrix actualH, actualH2; - factor.evaluateError(T, baroBias, actualH, actualH2); - - // Verify we get the expected error - EXPECT(assert_equal(expectedH, actualH, 1e-8)); - EXPECT(assert_equal(expectedH2, actualH2, 1e-8)); + // Verify we get the expected error + EXPECT(assert_equal(expectedH, actualH, 1e-8)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-8)); } // ************************************************************************* //*************************************************************************** TEST(BarometricFactor, nonZero) { - using namespace example; + using namespace example; - //meters to barometric. + // meters to barometric. - double baroMeasurement = metersToBaro(10.); + double baroMeasurement = metersToBaro(10.); - // Factor - Key key(1); - Key key2(2); - SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25); - BarometricFactor factor(key, key2, baroMeasurement, model); + // Factor + Key key(1); + Key key2(2); + SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25); + BarometricFactor factor(key, key2, baroMeasurement, model); - Pose3 T(Rot3::RzRyRx(0.5, 1., 1.), Point3(20., 30., 1.)); - double baroBias=5.; - - // Calculate numerical derivatives - Matrix expectedH = numericalDerivative21( - std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1, - std::placeholders::_2, boost::none, boost::none), T, baroBias); - - Matrix expectedH2 = numericalDerivative22( - std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1, - std::placeholders::_2, boost::none, boost::none), T, baroBias); - - // Use the factor to calculate the derivative and the error - Matrix actualH, actualH2; - Vector error = factor.evaluateError(T, baroBias, actualH, actualH2); - Vector actual = (Vector(1) <<-4.0).finished(); - - // Verify we get the expected error - EXPECT(assert_equal(expectedH, actualH, 1e-8)); - EXPECT(assert_equal(expectedH2, actualH2, 1e-8)); - EXPECT(assert_equal(error, actual , 1e-8)); + Pose3 T(Rot3::RzRyRx(0.5, 1., 1.), Point3(20., 30., 1.)); + double baroBias = 5.; + // Calculate numerical derivatives + Matrix expectedH = numericalDerivative21( + std::bind(&BarometricFactor::evaluateError, &factor, + std::placeholders::_1, std::placeholders::_2, boost::none, + boost::none), + T, baroBias); + Matrix expectedH2 = numericalDerivative22( + std::bind(&BarometricFactor::evaluateError, &factor, + std::placeholders::_1, std::placeholders::_2, boost::none, + boost::none), + T, baroBias); + // Use the factor to calculate the derivative and the error + Matrix actualH, actualH2; + Vector error = factor.evaluateError(T, baroBias, actualH, actualH2); + Vector actual = (Vector(1) << -4.0).finished(); + // Verify we get the expected error + EXPECT(assert_equal(expectedH, actualH, 1e-8)); + EXPECT(assert_equal(expectedH2, actualH2, 1e-8)); + EXPECT(assert_equal(error, actual, 1e-8)); } // ************************************************************************* int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); + TestResult tr; + return TestRegistry::runAllTests(tr); } // *************************************************************************