117 lines
3.8 KiB
C++
117 lines
3.8 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file BearingRangeFactor.h
|
|
* @date Apr 1, 2010
|
|
* @author Kai Ni
|
|
* @brief a single factor contains both the bearing and the range to prevent handle to pair bearing and range factors
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/geometry/concepts.h>
|
|
#include <gtsam/base/Testable.h>
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Binary factor for a bearing measurement
|
|
*/
|
|
template<class POSE, class POINT>
|
|
class BearingRangeFactor: public NonlinearFactor2<POSE, POINT> {
|
|
private:
|
|
|
|
typedef POSE Pose;
|
|
typedef typename POSE::Rotation Rot;
|
|
typedef POINT Point;
|
|
|
|
typedef BearingRangeFactor<POSE, POINT> This;
|
|
typedef NonlinearFactor2<POSE, POINT> Base;
|
|
|
|
// the measurement
|
|
Rot measuredBearing_;
|
|
double measuredRange_;
|
|
|
|
/** concept check by type */
|
|
GTSAM_CONCEPT_TESTABLE_TYPE(Rot)
|
|
GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(Pose, Point)
|
|
GTSAM_CONCEPT_POSE_TYPE(Pose)
|
|
|
|
public:
|
|
|
|
BearingRangeFactor() {} /* Default constructor */
|
|
BearingRangeFactor(const Symbol& poseKey, const Symbol& pointKey, const Rot& measuredBearing, const double measuredRange,
|
|
const SharedNoiseModel& model) :
|
|
Base(model, poseKey, pointKey), measuredBearing_(measuredBearing), measuredRange_(measuredRange) {
|
|
}
|
|
|
|
virtual ~BearingRangeFactor() {}
|
|
|
|
/** Print */
|
|
virtual void print(const std::string& s = "") const {
|
|
std::cout << s << ": BearingRangeFactor("
|
|
<< (std::string) this->key1() << ","
|
|
<< (std::string) this->key2() << ")\n";
|
|
measuredBearing_.print(" measured bearing");
|
|
std::cout << " measured range: " << measuredRange_ << std::endl;
|
|
this->noiseModel_->print(" noise model");
|
|
}
|
|
|
|
/** equals */
|
|
virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
|
|
const This *e = dynamic_cast<const This*> (&expected);
|
|
return e != NULL && Base::equals(*e, tol) &&
|
|
fabs(this->measuredRange_ - e->measuredRange_) < tol &&
|
|
this->measuredBearing_.equals(e->measuredBearing_, tol);
|
|
}
|
|
|
|
/** h(x)-z -> between(z,h(x)) for Rot manifold */
|
|
Vector evaluateError(const Pose& pose, const Point& point,
|
|
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
|
|
Matrix H11, H21, H12, H22;
|
|
boost::optional<Matrix&> H11_ = H1 ? boost::optional<Matrix&>(H11) : boost::optional<Matrix&>();
|
|
boost::optional<Matrix&> H21_ = H1 ? boost::optional<Matrix&>(H21) : boost::optional<Matrix&>();
|
|
boost::optional<Matrix&> H12_ = H2 ? boost::optional<Matrix&>(H12) : boost::optional<Matrix&>();
|
|
boost::optional<Matrix&> H22_ = H2 ? boost::optional<Matrix&>(H22) : boost::optional<Matrix&>();
|
|
|
|
Rot y1 = pose.bearing(point, H11_, H12_);
|
|
Vector e1 = Rot::Logmap(measuredBearing_.between(y1));
|
|
|
|
double y2 = pose.range(point, H21_, H22_);
|
|
Vector e2 = Vector_(1, y2 - measuredRange_);
|
|
|
|
if (H1) *H1 = gtsam::stack(2, &H11, &H21);
|
|
if (H2) *H2 = gtsam::stack(2, &H12, &H22);
|
|
return concatVectors(2, &e1, &e2);
|
|
}
|
|
|
|
/** return the measured */
|
|
const std::pair<Rot, double> measured() const {
|
|
return std::make_pair(measuredBearing_, measuredRange_);
|
|
}
|
|
|
|
private:
|
|
|
|
/** Serialization function */
|
|
friend class boost::serialization::access;
|
|
template<class ARCHIVE>
|
|
void serialize(ARCHIVE & ar, const unsigned int version) {
|
|
ar & boost::serialization::make_nvp("NonlinearFactor2",
|
|
boost::serialization::base_object<Base>(*this));
|
|
ar & BOOST_SERIALIZATION_NVP(measuredBearing_);
|
|
ar & BOOST_SERIALIZATION_NVP(measuredRange_);
|
|
}
|
|
}; // BearingRangeFactor
|
|
|
|
} // namespace gtsam
|