78 lines
2.0 KiB
C++
78 lines
2.0 KiB
C++
/**
|
|
* @file BetweenFactor.h
|
|
* @authors Frank Dellaert, Viorela Ila
|
|
**/
|
|
#pragma once
|
|
|
|
#include <ostream>
|
|
|
|
#include "NonlinearFactor.h"
|
|
#include "GaussianFactor.h"
|
|
#include "Lie.h"
|
|
#include "Matrix.h"
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* A class for a measurement predicted by "between(config[key1],config[key2])"
|
|
* T is the Lie group type, Config where the T's are gotten from
|
|
*/
|
|
template<class Config, class Key1, class T, class Key2 = Key1>
|
|
class BetweenFactor: public NonlinearFactor2<Config, Key1, T, Key2, T> {
|
|
|
|
private:
|
|
|
|
typedef NonlinearFactor2<Config, Key1, T, Key2, T> Base;
|
|
|
|
T measured_; /** The measurement */
|
|
|
|
public:
|
|
|
|
// shorthand for a smart pointer to a factor
|
|
typedef typename boost::shared_ptr<BetweenFactor> shared_ptr;
|
|
|
|
/** Constructor */
|
|
BetweenFactor(const Key1& key1, const Key2& key2, const T& measured,
|
|
const SharedGaussian& model) :
|
|
Base(model, key1, key2), measured_(measured) {
|
|
}
|
|
|
|
/** implement functions needed for Testable */
|
|
|
|
/** print */
|
|
void print(const std::string& s) const {
|
|
Base::print(s);
|
|
measured_.print("measured");
|
|
}
|
|
|
|
/** equals */
|
|
bool equals(const NonlinearFactor<Config>& expected, double tol) const {
|
|
const BetweenFactor<Config, Key1, T, Key2> *e =
|
|
dynamic_cast<const BetweenFactor<Config, Key1, T>*> (&expected);
|
|
return e != NULL && Base::equals(expected) && this->measured_.equals(
|
|
e->measured_, tol);
|
|
}
|
|
|
|
/** implement functions needed to derive from Factor */
|
|
|
|
/** vector of errors */
|
|
Vector evaluateError(const T& p1, const T& p2, boost::optional<Matrix&> H1 =
|
|
boost::none, boost::optional<Matrix&> H2 = boost::none) const {
|
|
T hx = between(p1, p2, H1, H2); // h(x)
|
|
// manifold equivalent of h(x)-z -> log(z,h(x))
|
|
return logmap(measured_, hx);
|
|
}
|
|
|
|
/** return the measured */
|
|
inline const T measured() const {
|
|
return measured_;
|
|
}
|
|
|
|
/** number of variables attached to this factor */
|
|
inline std::size_t size() const {
|
|
return 2;
|
|
}
|
|
};
|
|
|
|
} /// namespace gtsam
|