83 lines
2.1 KiB
C++
83 lines
2.1 KiB
C++
/**
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* @file BetweenFactor.h
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* @authors Frank Dellaert, Viorela Ila
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**/
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#pragma once
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#include <ostream>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/linear/GaussianFactor.h>
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#include <gtsam/base/Lie.h>
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#include <gtsam/base/Matrix.h>
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namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* T is the Lie group type, Values where the T's are gotten from
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*
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* FIXME: This should only need one key type, as we can't have different types
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*/
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template<class Values, class Key1, class Key2 = Key1>
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class BetweenFactor: public NonlinearFactor2<Values, Key1, Key2> {
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public:
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typedef typename Key1::Value T;
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private:
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typedef NonlinearFactor2<Values, Key1, Key2> Base;
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T measured_; /** The measurement */
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public:
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// shorthand for a smart pointer to a factor
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typedef typename boost::shared_ptr<BetweenFactor> shared_ptr;
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/** Constructor */
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BetweenFactor(const Key1& key1, const Key2& key2, const T& measured,
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const SharedGaussian& model) :
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Base(model, key1, key2), measured_(measured) {
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}
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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 {
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Base::print(s);
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measured_.print("measured");
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}
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/** equals */
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bool equals(const NonlinearFactor<Values>& expected, double tol) const {
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const BetweenFactor<Values, Key1, Key2> *e =
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dynamic_cast<const BetweenFactor<Values, Key1, Key2>*> (&expected);
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return e != NULL && Base::equals(expected, tol) && this->measured_.equals(
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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 T& p1, const T& p2, boost::optional<Matrix&> H1 =
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boost::none, boost::optional<Matrix&> H2 = boost::none) const {
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T hx = p1.between(p2, H1, H2); // h(x)
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// manifold equivalent of h(x)-z -> log(z,h(x))
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return measured_.logmap(hx);
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}
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/** return the measured */
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inline const T measured() const {
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return measured_;
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}
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/** number of variables attached to this factor */
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inline std::size_t size() const {
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return 2;
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}
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};
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} /// namespace gtsam
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