126 lines
3.4 KiB
C++
126 lines
3.4 KiB
C++
/**
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* @file planarSLAM.h
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* @brief: bearing/range measurements in 2D plane
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* @authors Frank Dellaert
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**/
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#pragma once
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#include "Key.h"
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#include "Pose2.h"
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#include "Point2.h"
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#include "NonlinearFactor.h"
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#include "TupleConfig.h"
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#include "NonlinearEquality.h"
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#include "PriorFactor.h"
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#include "BetweenFactor.h"
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#include "NonlinearFactorGraph.h"
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#include "NonlinearOptimizer.h"
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// We use gtsam namespace for generally useful factors
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namespace gtsam {
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/**
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* Binary factor for a bearing measurement
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*/
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template<class Config, class PoseKey, class PointKey>
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class BearingFactor: public NonlinearFactor2<Config, PoseKey, Pose2,
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PointKey, Point2> {
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private:
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Rot2 z_; /** measurement */
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typedef NonlinearFactor2<Config, PoseKey, Pose2, PointKey, Point2> Base;
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public:
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BearingFactor(); /* Default constructor */
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BearingFactor(const PoseKey& i, const PointKey& j, const Rot2& z,
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const SharedGaussian& model) :
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Base(model, i, j), z_(z) {
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}
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/** h(x)-z -> between(z,h(x)) for Rot2 manifold */
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Vector evaluateError(const Pose2& pose, const Point2& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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Rot2 hx = bearing(pose, point, H1, H2);
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return logmap(between(z_, hx));
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}
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/** return the measured */
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inline const Rot2 measured() const {
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return z_;
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}
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}; // BearingFactor
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/**
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* Binary factor for a range measurement
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*/
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template<class Config, class PoseKey, class PointKey>
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class RangeFactor: public NonlinearFactor2<Config, PoseKey, Pose2, PointKey,
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Point2> {
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private:
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double z_; /** measurement */
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typedef NonlinearFactor2<Config, PoseKey, Pose2, PointKey, Point2> Base;
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public:
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RangeFactor(); /* Default constructor */
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RangeFactor(const PoseKey& i, const PointKey& j, double z,
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const SharedGaussian& model) :
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Base(model, i, j), z_(z) {
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}
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/** h(x)-z */
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Vector evaluateError(const Pose2& pose, const Point2& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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double hx = gtsam::range(pose, point, H1, H2);
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return Vector_(1, hx - z_);
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}
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/** return the measured */
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inline const double measured() const {
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return z_;
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}
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}; // RangeFactor
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// Use planarSLAM namespace for specific SLAM instance
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namespace planarSLAM {
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// Keys and Config
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typedef TypedSymbol<Pose2, 'x'> PoseKey;
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typedef TypedSymbol<Point2, 'l'> PointKey;
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typedef LieConfig<PoseKey, Pose2> PoseConfig;
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typedef LieConfig<PointKey, Point2> PointConfig;
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typedef PairConfig<PoseKey, Pose2, PointKey, Point2> Config;
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// Factors
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typedef NonlinearEquality<Config, PoseKey, Pose2> Constraint;
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typedef PriorFactor<Config, PoseKey, Pose2> Prior;
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typedef BetweenFactor<Config, PoseKey, Pose2> Odometry;
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typedef BearingFactor<Config, PoseKey, PointKey> Bearing;
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typedef RangeFactor<Config, PoseKey, PointKey> Range;
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// Graph
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struct Graph: public NonlinearFactorGraph<Config> {
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void addPrior(const PoseKey& i, const Pose2& p, const SharedGaussian& model);
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void addPoseConstraint(const PoseKey& i, const Pose2& p);
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void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z,
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const SharedGaussian& model);
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void addBearing(const PoseKey& i, const PointKey& j, const Rot2& z,
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const SharedGaussian& model);
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void addRange(const PoseKey& i, const PointKey& j, double z,
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const SharedGaussian& model);
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};
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// Optimizer
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typedef NonlinearOptimizer<Graph, Config> Optimizer;
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} // planarSLAM
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} // namespace gtsam
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