106 lines
3.1 KiB
C++
106 lines
3.1 KiB
C++
/**
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* @file PoseTranslationPrior.h
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*
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* @brief Implements a prior on the translation component of a pose
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*
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* @date Jun 14, 2012
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/geometry/concepts.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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/**
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* A prior on the translation part of a pose
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*/
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template<class POSE>
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class PoseTranslationPrior : public NoiseModelFactor1<POSE> {
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public:
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typedef PoseTranslationPrior<POSE> This;
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typedef NoiseModelFactor1<POSE> Base;
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typedef POSE Pose;
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typedef typename POSE::Translation Translation;
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typedef typename POSE::Rotation Rotation;
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GTSAM_CONCEPT_POSE_TYPE(Pose)
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GTSAM_CONCEPT_GROUP_TYPE(Pose)
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GTSAM_CONCEPT_LIE_TYPE(Translation)
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protected:
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Translation measured_;
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public:
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/** default constructor - only use for serialization */
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PoseTranslationPrior() {}
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/** standard constructor */
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PoseTranslationPrior(Key key, const Translation& measured, const noiseModel::Base::shared_ptr& model)
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: Base(model, key), measured_(measured) {
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}
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/** Constructor that pulls the translation from an incoming POSE */
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PoseTranslationPrior(Key key, const POSE& pose_z, const noiseModel::Base::shared_ptr& model)
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: Base(model, key), measured_(pose_z.translation()) {
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}
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virtual ~PoseTranslationPrior() {}
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const Translation& measured() const { return measured_; }
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/// @return a deep copy of this factor
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gtsam::NonlinearFactor::shared_ptr clone() const override {
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return boost::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
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/** h(x)-z */
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Vector evaluateError(const Pose& pose, boost::optional<Matrix&> H = boost::none) const override {
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const Translation& newTrans = pose.translation();
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const Rotation& R = pose.rotation();
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const int tDim = traits<Translation>::GetDimension(newTrans);
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const int xDim = traits<Pose>::GetDimension(pose);
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if (H) {
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*H = Matrix::Zero(tDim, xDim);
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std::pair<size_t, size_t> transInterval = POSE::translationInterval();
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(*H).middleCols(transInterval.first, tDim) = R.matrix();
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}
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return traits<Translation>::Local(measured_, newTrans);
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}
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/** equals specialized to this factor */
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bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
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const This *e = dynamic_cast<const This*> (&expected);
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return e != nullptr && Base::equals(*e, tol) && traits<Translation>::Equals(measured_, e->measured_, tol);
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}
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/** print contents */
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void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
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Base::print(s + "PoseTranslationPrior", keyFormatter);
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traits<Translation>::Print(measured_, "Measured Translation");
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}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar & boost::serialization::make_nvp("NoiseModelFactor1",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(measured_);
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}
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};
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} // \namespace gtsam
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