48 lines
1.1 KiB
C++
48 lines
1.1 KiB
C++
/**
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* @file BearingFactor.H
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* @authors Frank Dellaert
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**/
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#pragma once
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#include <gtsam/geometry/Rot2.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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/**
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* Binary factor for a bearing measurement
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*/
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template<class Config, class PoseKey, class PointKey>
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class BearingFactor: public NonlinearFactor2<Config, PoseKey, PointKey> {
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private:
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Rot2 z_; /** measurement */
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typedef NonlinearFactor2<Config, PoseKey, PointKey> Base;
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public:
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BearingFactor(); /* Default constructor */
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BearingFactor(const PoseKey& i, const PointKey& j, const Rot2& z,
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const SharedGaussian& model) :
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Base(model, i, j), z_(z) {
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}
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/** h(x)-z -> between(z,h(x)) for Rot2 manifold */
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Vector evaluateError(const Pose2& pose, const Point2& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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Rot2 hx = pose.bearing(point, H1, H2);
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return Rot2::Logmap(z_.between(hx));
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}
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/** return the measured */
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inline const Rot2 measured() const {
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return z_;
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}
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}; // BearingFactor
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} // namespace gtsam
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