146 lines
4.2 KiB
C++
146 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 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/Values.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include "gtsam/base/OptionalJacobian.h"
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// \namespace
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namespace simulated2DOriented {
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using namespace gtsam;
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/// Specialized Values structure with syntactic sugar for
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/// compatibility with matlab
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class Values: public gtsam::Values {
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int nrPoses_, nrPoints_;
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public:
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Values() : nrPoses_(0), nrPoints_(0) {}
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/// insert a pose
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void insertPose(Key i, const Pose2& p) {
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insert(i, p);
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nrPoses_++;
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}
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/// insert a landmark
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void insertPoint(Key j, const Point2& p) {
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insert(j, p);
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nrPoints_++;
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}
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int nrPoses() const { return nrPoses_; } ///< nr of poses
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int nrPoints() const { return nrPoints_; } ///< nr of landmarks
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Pose2 pose(Key i) const { return at<Pose2>(i); } ///< get a pose
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Point2 point(Key j) const { return at<Point2>(j); } ///< get a landmark
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};
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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, OptionalJacobian<3,3> H = OptionalNone) {
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if (H) *H = I_3x3;
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return x;
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}
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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, OptionalJacobian<3,3> H1 =
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OptionalNone, OptionalJacobian<3,3> H2 = OptionalNone) {
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return x1.between(x2, H1, H2);
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}
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/// Unary factor encoding a soft prior on a vector
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template<class VALUE = Pose2>
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struct GenericPosePrior: public NoiseModelFactorN<VALUE> {
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Pose2 measured_; ///< measurement
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/// Create generic pose prior
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GenericPosePrior(const Pose2& measured, const SharedNoiseModel& model, Key key) :
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NoiseModelFactorN<VALUE>(model, key), measured_(measured) {
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}
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/// Evaluate error and optionally derivative
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Vector evaluateError(const Pose2& x, OptionalMatrixType H =
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OptionalNone) const {
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return measured_.localCoordinates(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 VALUE = Pose2>
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struct GenericOdometry: public NoiseModelFactorN<VALUE, VALUE> {
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Pose2 measured_; ///< Between measurement for odometry factor
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typedef GenericOdometry<VALUE> This;
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// Provide access to the Matrix& version of evaluateError:
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using NoiseModelFactor2<VALUE, VALUE>::evaluateError;
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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& measured, const SharedNoiseModel& model,
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Key i1, Key i2) :
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NoiseModelFactorN<VALUE, VALUE>(model, i1, i2), measured_(measured) {
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}
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~GenericOdometry() override {}
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/// Evaluate error and optionally derivative
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Vector evaluateError(const VALUE& x1, const VALUE& x2,
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OptionalMatrixType H1, OptionalMatrixType H2) const override {
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return measured_.localCoordinates(odo(x1, x2, H1, H2));
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}
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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 std::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
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};
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typedef GenericOdometry<Pose2> Odometry;
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/// Graph specialization for syntactic sugar use with matlab
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class Graph : public NonlinearFactorGraph {
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public:
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Graph() {}
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// TODO: add functions to add factors
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};
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} // namespace simulated2DOriented
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