105 lines
3.0 KiB
C++
105 lines
3.0 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file simulated2D.h
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* @brief measurement functions and derivatives for simulated 2D robot
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* @author Frank Dellaert
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*/
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// \callgraph
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#pragma once
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/nonlinear/TupleValues.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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// \namespace
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namespace gtsam {
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namespace simulated2DOriented {
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// The types that take an oriented pose2 rather than point2
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typedef TypedSymbol<Point2, 'l'> PointKey;
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typedef TypedSymbol<Pose2, 'x'> PoseKey;
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typedef LieValues<PoseKey> PoseValues;
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typedef LieValues<PointKey> PointValues;
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typedef TupleValues2<PoseValues, PointValues> Values;
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//TODO:: point prior is not implemented right now
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/// Prior on a single pose
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inline Pose2 prior(const Pose2& x) {
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return x;
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}
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/// Prior on a single pose, optional derivative version
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Pose2 prior(const Pose2& x, boost::optional<Matrix&> H = boost::none);
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/// odometry between two poses
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inline Pose2 odo(const Pose2& x1, const Pose2& x2) {
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return x1.between(x2);
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}
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/// odometry between two poses, optional derivative version
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Pose2 odo(const Pose2& x1, const Pose2& x2, boost::optional<Matrix&> H1 =
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boost::none, boost::optional<Matrix&> H2 = boost::none);
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/// Unary factor encoding a soft prior on a vector
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template<class VALUES = Values, class Key = PoseKey>
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struct GenericPosePrior: public NonlinearFactor1<VALUES, Key> {
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Pose2 z_; ///< measurement
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/// Create generic pose prior
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GenericPosePrior(const Pose2& z, const SharedNoiseModel& model,
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const Key& key) :
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NonlinearFactor1<VALUES, Key>(model, key), z_(z) {
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}
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/// Evaluate error and optionally derivative
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Vector evaluateError(const Pose2& x, boost::optional<Matrix&> H =
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boost::none) const {
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return z_.logmap(prior(x, H));
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}
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};
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/**
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* Binary factor simulating "odometry" between two Vectors
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*/
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template<class VALUES = Values, class KEY = PoseKey>
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struct GenericOdometry: public NonlinearFactor2<VALUES, KEY, KEY> {
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Pose2 z_; ///< Between measurement for odometry factor
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/**
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* Creates an odometry factor between two poses
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*/
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GenericOdometry(const Pose2& z, const SharedNoiseModel& model,
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const KEY& i1, const KEY& i2) :
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NonlinearFactor2<VALUES, KEY, KEY>(model, i1, i2), z_(z) {
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}
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/// Evaluate error and optionally derivative
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Vector evaluateError(const Pose2& x1, const Pose2& x2,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const {
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return z_.logmap(odo(x1, x2, H1, H2));
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}
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};
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typedef GenericOdometry<Values, PoseKey> Odometry;
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} // namespace simulated2DOriented
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} // namespace gtsam
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