131 lines
4.2 KiB
C++
131 lines
4.2 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 BetweenFactor.h
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* @author Frank Dellaert, Viorela Ila
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**/
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#pragma once
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#include <ostream>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/geometry/concepts.h>
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#include <gtsam/base/Testable.h>
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namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* @tparam POSE the Pose type
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* @ingroup slam
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*/
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template<class POSE>
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class PoseBetweenFactor: public NoiseModelFactorN<POSE, POSE> {
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private:
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typedef PoseBetweenFactor<POSE> This;
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typedef NoiseModelFactorN<POSE, POSE> Base;
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POSE measured_; /** The measurement */
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boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
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/** concept check by type */
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GTSAM_CONCEPT_TESTABLE_TYPE(POSE)
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GTSAM_CONCEPT_POSE_TYPE(POSE)
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public:
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using Base::evaluateError;
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// shorthand for a smart pointer to a factor
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typedef typename boost::shared_ptr<PoseBetweenFactor> shared_ptr;
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/** default constructor - only use for serialization */
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PoseBetweenFactor() {}
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/** Constructor */
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PoseBetweenFactor(Key key1, Key key2, const POSE& measured,
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const SharedNoiseModel& model, boost::optional<POSE> body_P_sensor = boost::none) :
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Base(model, key1, key2), measured_(measured), body_P_sensor_(body_P_sensor) {
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}
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~PoseBetweenFactor() 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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/** implement functions needed for Testable */
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/** print */
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void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
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std::cout << s << "BetweenFactor("
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<< keyFormatter(this->key1()) << ","
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<< keyFormatter(this->key2()) << ")\n";
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measured_.print(" measured: ");
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if(this->body_P_sensor_)
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this->body_P_sensor_->print(" sensor pose in body frame: ");
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this->noiseModel_->print(" noise model: ");
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}
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/** equals */
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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
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&& Base::equals(*e, tol)
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&& this->measured_.equals(e->measured_, tol)
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&& ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_)));
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}
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/** implement functions needed to derive from Factor */
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/** vector of errors */
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Vector evaluateError(const POSE& p1, const POSE& p2,
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OptionalMatrixType H1, OptionalMatrixType H2) const override {
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if(body_P_sensor_) {
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POSE hx;
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if(H1 || H2) {
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Matrix H3;
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hx = p1.compose(*body_P_sensor_,H3).between(p2.compose(*body_P_sensor_), H1, H2); // h(x)
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if(H1) (*H1) *= H3;
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if(H2) (*H2) *= H3;
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} else {
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hx = p1.compose(*body_P_sensor_).between(p2.compose(*body_P_sensor_)); // h(x)
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}
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// manifold equivalent of h(x)-z -> log(z,h(x))
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return measured_.localCoordinates(hx);
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} else {
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POSE hx = p1.between(p2, H1, H2); // h(x)
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// manifold equivalent of h(x)-z -> log(z,h(x))
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return measured_.localCoordinates(hx);
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}
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}
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/** return the measured */
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const POSE& measured() const {
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return measured_;
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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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ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
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ar & BOOST_SERIALIZATION_NVP(measured_);
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}
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}; // \class PoseBetweenFactor
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} /// namespace gtsam
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