54 lines
1.8 KiB
C++
54 lines
1.8 KiB
C++
/**
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* @file RelativeElevationFactor.cpp
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*
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* @date Aug 17, 2012
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* @author Alex Cunningham
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*/
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#include <gtsam_unstable/slam/RelativeElevationFactor.h>
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namespace gtsam {
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/* ************************************************************************* */
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RelativeElevationFactor::RelativeElevationFactor(Key poseKey, Key pointKey, double measured,
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const SharedNoiseModel& model)
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: Base(model, poseKey, pointKey), measured_(measured)
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{
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}
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/* ************************************************************************* */
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Vector RelativeElevationFactor::evaluateError(const Pose3& pose, const Point3& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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double hx = pose.z() - point.z();
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if (H1) {
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*H1 = Matrix::Zero(1,6);
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// Use bottom row of rotation matrix for derivative of translation
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(*H1)(0, 3) = pose.rotation().r1().z();
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(*H1)(0, 4) = pose.rotation().r2().z();
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(*H1)(0, 5) = pose.rotation().r3().z();
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}
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if (H2) {
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*H2 = Matrix::Zero(1,3);
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(*H2)(0, 2) = -1.0;
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}
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return (Vector(1) << hx - measured_).finished();
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}
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/* ************************************************************************* */
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bool RelativeElevationFactor::equals(const NonlinearFactor& expected, double tol) const {
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const This *e = dynamic_cast<const This*> (&expected);
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return e != NULL && Base::equals(*e, tol) && std::abs(this->measured_ - e->measured_) < tol;
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}
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/* ************************************************************************* */
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void RelativeElevationFactor::print(const std::string& s, const KeyFormatter& keyFormatter) const {
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std::cout << s << "RelativeElevationFactor, relative elevation = " << measured_ << std::endl;
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Base::print("", keyFormatter);
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}
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/* ************************************************************************* */
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} // \namespace gtsam
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