29 lines
751 B
C++
29 lines
751 B
C++
// Christian Potthast
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// Simulated2D Odometry
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#include "NonlinearFactor.h"
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#include "simulated2D.h"
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namespace simulated2D {
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struct Simulated2DOdometry: public gtsam::NonlinearFactor2<VectorConfig,
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PoseKey, Vector, PointKey, Vector> {
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Vector z_;
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Simulated2DOdometry(const Vector& z, double sigma, const std::string& j1,
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const std::string& j2) :
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z_(z), gtsam::NonlinearFactor2<VectorConfig, PoseKey, Vector, PointKey,
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Vector>(sigma, j1, j2) {
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}
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Vector evaluateError(const Vector& x1, const Vector& x2, boost::optional<
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Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
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if (H1) *H1 = Dodo1(x1, x2);
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if (H2) *H2 = Dodo2(x1, x2);
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return odo(x1, x2) - z_;
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}
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};
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} // namespace gtsam
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