96 lines
2.7 KiB
C
96 lines
2.7 KiB
C
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/**
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* @file PoseToPointFactor.hpp
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* @brief This factor can be used to track a 3D landmark over time by providing
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* local measurements of its location.
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* @author David Wisth
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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/Point3.h>
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#include <gtsam/geometry/Pose3.h>
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namespace gtsam {
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/**
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* A class for a measurement between a pose and a point.
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* @addtogroup SLAM
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*/
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class PoseToPointFactor: public NoiseModelFactor2<Pose3, Point3> {
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private:
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typedef PoseToPointFactor This;
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typedef NoiseModelFactor2<Pose3, Point3> Base;
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Point3 measured_; /** the point measurement */
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public:
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// shorthand for a smart pointer to a factor
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typedef boost::shared_ptr<PoseToPointFactor> shared_ptr;
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/** default constructor - only use for serialization */
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PoseToPointFactor() {}
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/** Constructor */
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PoseToPointFactor(Key key1, Key key2, const Point3& measured,
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const SharedNoiseModel& model) :
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Base(model, key1, key2), measured_(measured)
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{
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}
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virtual ~PoseToPointFactor() {}
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/** implement functions needed for Testable */
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/** print */
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virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
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std::cout << s << "PoseToPointFactor("
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<< keyFormatter(this->key1()) << ","
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<< keyFormatter(this->key2()) << ")\n"
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<< " measured: " << measured_.transpose() << std::endl;
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this->noiseModel_->print(" noise model: ");
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}
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/** equals */
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virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
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const This *e = dynamic_cast<const This*> (&expected);
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return e != nullptr && Base::equals(*e, tol) && traits<Point3>::Equals(this->measured_, e->measured_, tol);
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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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* Error = pose_est.inverse()*point_est - measured_
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* (The error is in the measurement coordinate system)
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*/
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Vector evaluateError(const Pose3& W_T_WI,
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const Point3& W_r_WC,
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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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{
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return W_T_WI.transformTo(W_r_WC, H1, H2) - measured_;
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}
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/** return the measured */
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const Point3& 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::make_nvp("NoiseModelFactor2",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(measured_);
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}
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}; // \class PoseToPointFactor
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} /// namespace gtsam
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