108 lines
3.4 KiB
C++
108 lines
3.4 KiB
C++
/**
|
|
* @file PoseToPointFactor.h
|
|
* @brief This factor can be used to model relative position measurements
|
|
* from a (2D or 3D) pose to a landmark
|
|
* @author David Wisth
|
|
* @author Luca Carlone
|
|
**/
|
|
#pragma once
|
|
|
|
#include <gtsam/geometry/Point2.h>
|
|
#include <gtsam/geometry/Pose2.h>
|
|
#include <gtsam/geometry/Point3.h>
|
|
#include <gtsam/geometry/Pose3.h>
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
#include <ostream>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* A class for a measurement between a pose and a point.
|
|
* @ingroup slam
|
|
*/
|
|
template<typename POSE = Pose3, typename POINT = Point3>
|
|
class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
|
|
private:
|
|
typedef PoseToPointFactor This;
|
|
typedef NoiseModelFactorN<POSE, POINT> Base;
|
|
|
|
POINT measured_; /** the point measurement in local coordinates */
|
|
|
|
public:
|
|
// Provide access to the Matrix& version of evaluateError:
|
|
using Base::evaluateError;
|
|
|
|
// shorthand for a smart pointer to a factor
|
|
typedef boost::shared_ptr<PoseToPointFactor> shared_ptr;
|
|
|
|
/** default constructor - only use for serialization */
|
|
PoseToPointFactor() {}
|
|
|
|
/** Constructor */
|
|
PoseToPointFactor(Key key1, Key key2, const POINT& measured,
|
|
const SharedNoiseModel& model)
|
|
: Base(model, key1, key2), measured_(measured) {}
|
|
|
|
virtual ~PoseToPointFactor() {}
|
|
|
|
/** implement functions needed for Testable */
|
|
|
|
/** print */
|
|
void print(const std::string& s, const KeyFormatter& keyFormatter =
|
|
DefaultKeyFormatter) const override {
|
|
std::cout << s << "PoseToPointFactor("
|
|
<< keyFormatter(this->key1()) << ","
|
|
<< keyFormatter(this->key2()) << ")\n"
|
|
<< " measured: " << measured_.transpose() << std::endl;
|
|
this->noiseModel_->print(" noise model: ");
|
|
}
|
|
|
|
/** equals */
|
|
bool equals(const NonlinearFactor& expected,
|
|
double tol = 1e-9) const override {
|
|
const This* e = dynamic_cast<const This*>(&expected);
|
|
return e != nullptr && Base::equals(*e, tol) &&
|
|
traits<POINT>::Equals(this->measured_, e->measured_, tol);
|
|
}
|
|
|
|
/// @return a deep copy of this factor
|
|
gtsam::NonlinearFactor::shared_ptr clone() const override {
|
|
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
|
|
gtsam::NonlinearFactor::shared_ptr(new This(*this)));
|
|
}
|
|
|
|
/** implement functions needed to derive from Factor */
|
|
|
|
/** vector of errors
|
|
* @brief Error = w_T_b.inverse()*w_P - measured_
|
|
* @param w_T_b The pose of the body in world coordinates
|
|
* @param w_P The estimated point location in world coordinates
|
|
*
|
|
* Note: measured_ and the error are in local coordiantes.
|
|
*/
|
|
Vector evaluateError(
|
|
const POSE& w_T_b, const POINT& w_P,
|
|
OptionalMatrixType H1,
|
|
OptionalMatrixType H2) const override {
|
|
return w_T_b.transformTo(w_P, H1, H2) - measured_;
|
|
}
|
|
|
|
/** return the measured */
|
|
const POINT& measured() const { return measured_; }
|
|
|
|
private:
|
|
/** Serialization function */
|
|
friend class boost::serialization::access;
|
|
template <class ARCHIVE>
|
|
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
|
|
// NoiseModelFactor2 instead of NoiseModelFactorN for backward compatibility
|
|
ar& boost::serialization::make_nvp(
|
|
"NoiseModelFactor2",
|
|
boost::serialization::base_object<Base>(*this));
|
|
ar& BOOST_SERIALIZATION_NVP(measured_);
|
|
}
|
|
|
|
}; // \class PoseToPointFactor
|
|
|
|
} // namespace gtsam
|