65 lines
1.9 KiB
C++
65 lines
1.9 KiB
C++
/**
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* @file VelocityConstraint3.h
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* @brief A simple 3-way factor constraining double poses and velocity
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* @author Duy-Nguyen Ta
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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class VelocityConstraint3 : public NoiseModelFactorN<double, double, double> {
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public:
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protected:
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typedef NoiseModelFactorN<double, double, double> Base;
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/** default constructor to allow for serialization */
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VelocityConstraint3() {}
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double dt_;
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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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typedef std::shared_ptr<VelocityConstraint3 > shared_ptr;
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///TODO: comment
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VelocityConstraint3(Key key1, Key key2, Key velKey, double dt, double mu = 1000.0)
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: Base(noiseModel::Constrained::All(1, std::abs(mu)), key1, key2, velKey), dt_(dt) {}
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~VelocityConstraint3() override {}
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/// @return a deep copy of this factor
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gtsam::NonlinearFactor::shared_ptr clone() const override {
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return std::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new VelocityConstraint3(*this))); }
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/** x1 + v*dt - x2 = 0, with optional derivatives */
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Vector evaluateError(const double& x1, const double& x2, const double& v,
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OptionalMatrixType H1, OptionalMatrixType H2,
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OptionalMatrixType H3) const override {
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const size_t p = 1;
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if (H1) *H1 = Matrix::Identity(p,p);
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if (H2) *H2 = -Matrix::Identity(p,p);
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if (H3) *H3 = Matrix::Identity(p,p)*dt_;
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return (Vector(1) << x1+v*dt_-x2).finished();
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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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// NoiseModelFactor3 instead of NoiseModelFactorN for backward compatibility
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ar & boost::serialization::make_nvp("NoiseModelFactor3",
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boost::serialization::base_object<Base>(*this));
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}
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}; // \VelocityConstraint3
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}
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