111 lines
3.3 KiB
C++
111 lines
3.3 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 BiasedGPSFactor.h
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* @author Luca Carlone
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**/
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#pragma once
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#include <ostream>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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/**
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* A class to model GPS measurements, including a bias term which models
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* common-mode errors and that can be partially corrected if other sensors are used
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* @ingroup slam
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*/
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class BiasedGPSFactor: public NoiseModelFactorN<Pose3, Point3> {
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private:
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typedef BiasedGPSFactor This;
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typedef NoiseModelFactorN<Pose3, Point3> Base;
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Point3 measured_; /** The measurement */
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public:
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// Provide access to the Matrix& version of evaluateError:
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using Base::evaluateError;
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// shorthand for a smart pointer to a factor
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typedef std::shared_ptr<BiasedGPSFactor> shared_ptr;
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/** default constructor - only use for serialization */
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BiasedGPSFactor() {}
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/** Constructor */
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BiasedGPSFactor(Key posekey, Key biaskey, const Point3 measured,
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const SharedNoiseModel& model) :
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Base(model, posekey, biaskey), measured_(measured) {
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}
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~BiasedGPSFactor() override {}
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/** implement functions needed for Testable */
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/** print */
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void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
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std::cout << s << "BiasedGPSFactor("
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<< keyFormatter(this->key<1>()) << ","
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<< keyFormatter(this->key<2>()) << ")\n"
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<< " measured: " << measured_.transpose() << std::endl;
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this->noiseModel_->print(" noise model: ");
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}
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/** equals */
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bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
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const This *e = dynamic_cast<const This*> (&expected);
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return e != nullptr && Base::equals(*e, tol) && traits<Point3>::Equals(this->measured_, e->measured_, tol);
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}
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/** implement functions needed to derive from Factor */
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/** vector of errors */
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Vector evaluateError(const Pose3& pose, const Point3& bias,
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OptionalMatrixType H1, OptionalMatrixType H2) const override {
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if (H1 || H2){
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H1->resize(3,6); // jacobian wrt pose
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(*H1) << Z_3x3, pose.rotation().matrix();
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H2->resize(3,3); // jacobian wrt bias
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(*H2) << I_3x3;
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}
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return pose.translation() + bias - measured_;
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}
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/** return the measured */
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const Point3 measured() const {
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return measured_;
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}
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private:
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#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
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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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// NoiseModelFactor2 instead of NoiseModelFactorN for backward compatibility
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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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#endif
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}; // \class BiasedGPSFactor
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} /// namespace gtsam
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