107 lines
3.0 KiB
C++
107 lines
3.0 KiB
C++
/**
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* @file PoseRotationPrior.h
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*
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* @brief Implements a prior on the rotation component of a pose
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*
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* @date Jun 14, 2012
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/geometry/concepts.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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template<class POSE>
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class PoseRotationPrior : public NoiseModelFactorN<POSE> {
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public:
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typedef PoseRotationPrior<POSE> This;
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typedef NoiseModelFactorN<POSE> Base;
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typedef POSE Pose;
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typedef typename POSE::Translation Translation;
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typedef typename POSE::Rotation Rotation;
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GTSAM_CONCEPT_POSE_TYPE(Pose)
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GTSAM_CONCEPT_GROUP_TYPE(Pose)
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GTSAM_CONCEPT_LIE_TYPE(Rotation)
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// Get dimensions of pose and rotation type at compile time
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static const int xDim = FixedDimension<POSE>::value;
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static const int rDim = FixedDimension<typename POSE::Rotation>::value;
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protected:
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Rotation measured_;
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public:
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/** default constructor - only use for serialization */
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PoseRotationPrior() {}
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/** standard constructor */
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PoseRotationPrior(Key key, const Rotation& rot_z, const SharedNoiseModel& model)
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: Base(model, key), measured_(rot_z) {}
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/** Constructor that pulls the translation from an incoming POSE */
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PoseRotationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model)
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: Base(model, key), measured_(pose_z.rotation()) {}
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~PoseRotationPrior() 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 boost::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
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// access
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const Rotation& measured() const { return measured_; }
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// testable
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/** equals specialized to this factor */
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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) && measured_.equals(e->measured_, tol);
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}
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/** print contents */
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void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
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Base::print(s + "PoseRotationPrior", keyFormatter);
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measured_.print("Measured Rotation");
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}
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/** h(x)-z */
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Vector evaluateError(const Pose& pose, OptionalMatrixType H = OptionalNone) const override {
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const Rotation& newR = pose.rotation();
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if (H) {
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*H = Matrix::Zero(rDim, xDim);
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std::pair<size_t, size_t> rotInterval = POSE::rotationInterval();
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(*H).middleCols(rotInterval.first, rDim).setIdentity(rDim, rDim);
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}
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return measured_.localCoordinates(newR);
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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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// NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
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ar & boost::serialization::make_nvp("NoiseModelFactor1",
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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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};
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} // \namespace gtsam
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