89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file RangeFactor.H
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* @author Frank Dellaert
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**/
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#pragma once
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#include <boost/lexical_cast.hpp>
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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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* Binary factor for a range measurement
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*/
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template<class POSE, class POINT>
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class RangeFactor: public NoiseModelFactor2<POSE, POINT> {
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private:
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double measured_; /** measurement */
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typedef RangeFactor<POSE, POINT> This;
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typedef NoiseModelFactor2<POSE, POINT> Base;
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typedef POSE Pose;
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typedef POINT Point;
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// Concept requirements for this factor
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GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(Pose, Point)
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public:
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RangeFactor() {} /* Default constructor */
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RangeFactor(Key poseKey, Key pointKey, double measured,
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const SharedNoiseModel& model) :
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Base(model, poseKey, pointKey), measured_(measured) {
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}
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virtual ~RangeFactor() {}
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/** h(x)-z */
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Vector evaluateError(const Pose& pose, const Point& point, boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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double hx = pose.range(point, H1, H2);
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return Vector_(1, hx - measured_);
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}
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/** return the measured */
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double measured() const {
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return measured_;
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}
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/** equals specialized to this factor */
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virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
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const This *e = dynamic_cast<const This*> (&expected);
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return e != NULL && Base::equals(*e, tol) && fabs(this->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 {
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Base::print(s + std::string(" range: ") + boost::lexical_cast<std::string>(measured_));
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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("NoiseModelFactor2",
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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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}; // RangeFactor
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} // namespace gtsam
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