59 lines
1.6 KiB
C++
59 lines
1.6 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 BetweenConstraint.h
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* @brief Implements a constraint to force a between
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearConstraint.h>
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namespace gtsam {
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/**
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* Binary between constraint - forces between to a given value
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* This constraint requires the underlying type to a Lie type
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*/
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template<class Values, class Key>
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class BetweenConstraint : public NonlinearEqualityConstraint2<Values, Key, Key> {
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public:
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typedef typename Key::Value X;
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protected:
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typedef NonlinearEqualityConstraint2<Values, Key, Key> Base;
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X measured_; /// fixed between value
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public:
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typedef boost::shared_ptr<BetweenConstraint<Values, Key> > shared_ptr;
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BetweenConstraint(const X& measured, const Key& key1, const Key& key2, double mu = 1000.0)
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: Base(key1, key2, X::Dim(), mu), measured_(measured) {}
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/** g(x) with optional derivative2 */
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Vector evaluateError(const X& x1, const X& x2,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const {
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X hx = x1.between(x2, H1, H2);
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return measured_.logmap(hx);
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}
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inline const X measured() const {
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return measured_;
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}
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};
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} // \namespace gtsam
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