Move PriorFactor.h to gtsam/nonlinear. Point slam/PriorFactor.h to new header location for backwards compatibility.
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/* ----------------------------------------------------------------------------
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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 PriorFactor.h
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* @author Frank Dellaert
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**/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/base/Testable.h>
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#include <string>
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namespace gtsam {
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/**
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* A class for a soft prior on any Value type
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* @addtogroup SLAM
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*/
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template<class VALUE>
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class PriorFactor: public NoiseModelFactor1<VALUE> {
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public:
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typedef VALUE T;
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private:
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typedef NoiseModelFactor1<VALUE> Base;
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VALUE prior_; /** The measurement */
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/** concept check by type */
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GTSAM_CONCEPT_TESTABLE_TYPE(T)
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public:
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/// shorthand for a smart pointer to a factor
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typedef typename boost::shared_ptr<PriorFactor<VALUE> > shared_ptr;
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/// Typedef to this class
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typedef PriorFactor<VALUE> This;
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/** default constructor - only use for serialization */
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PriorFactor() {}
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virtual ~PriorFactor() {}
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/** Constructor */
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PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model = nullptr) :
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Base(model, key), prior_(prior) {
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}
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/** Convenience constructor that takes a full covariance argument */
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PriorFactor(Key key, const VALUE& prior, const Matrix& covariance) :
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Base(noiseModel::Gaussian::Covariance(covariance), key), prior_(prior) {
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}
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/// @return a deep copy of this factor
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virtual gtsam::NonlinearFactor::shared_ptr clone() const {
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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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virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const {
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std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n";
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traits<T>::Print(prior_, " prior mean: ");
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if (this->noiseModel_)
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this->noiseModel_->print(" noise model: ");
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else
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std::cout << "no noise model" << std::endl;
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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<T>::Equals(prior_, e->prior_, 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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Vector evaluateError(const T& x, boost::optional<Matrix&> H = boost::none) const {
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if (H) (*H) = Matrix::Identity(traits<T>::GetDimension(x),traits<T>::GetDimension(x));
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// manifold equivalent of z-x -> Local(x,z)
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// TODO(ASL) Add Jacobians.
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return -traits<T>::Local(x, prior_);
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}
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const VALUE & prior() const { return prior_; }
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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("NoiseModelFactor1",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(prior_);
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}
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// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
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enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
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};
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} /// namespace gtsam
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@ -15,106 +15,6 @@
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**/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/base/Testable.h>
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#include <string>
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namespace gtsam {
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/**
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* A class for a soft prior on any Value type
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* @addtogroup SLAM
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*/
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template<class VALUE>
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class PriorFactor: public NoiseModelFactor1<VALUE> {
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public:
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typedef VALUE T;
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private:
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typedef NoiseModelFactor1<VALUE> Base;
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VALUE prior_; /** The measurement */
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/** concept check by type */
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GTSAM_CONCEPT_TESTABLE_TYPE(T)
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public:
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/// shorthand for a smart pointer to a factor
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typedef typename boost::shared_ptr<PriorFactor<VALUE> > shared_ptr;
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/// Typedef to this class
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typedef PriorFactor<VALUE> This;
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/** default constructor - only use for serialization */
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PriorFactor() {}
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virtual ~PriorFactor() {}
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/** Constructor */
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PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model = nullptr) :
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Base(model, key), prior_(prior) {
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}
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/** Convenience constructor that takes a full covariance argument */
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PriorFactor(Key key, const VALUE& prior, const Matrix& covariance) :
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Base(noiseModel::Gaussian::Covariance(covariance), key), prior_(prior) {
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}
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/// @return a deep copy of this factor
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virtual gtsam::NonlinearFactor::shared_ptr clone() const {
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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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virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const {
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std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n";
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traits<T>::Print(prior_, " prior mean: ");
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if (this->noiseModel_)
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this->noiseModel_->print(" noise model: ");
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else
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std::cout << "no noise model" << std::endl;
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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<T>::Equals(prior_, e->prior_, 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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Vector evaluateError(const T& x, boost::optional<Matrix&> H = boost::none) const {
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if (H) (*H) = Matrix::Identity(traits<T>::GetDimension(x),traits<T>::GetDimension(x));
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// manifold equivalent of z-x -> Local(x,z)
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// TODO(ASL) Add Jacobians.
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return -traits<T>::Local(x, prior_);
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}
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const VALUE & prior() const { return prior_; }
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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("NoiseModelFactor1",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(prior_);
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}
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// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
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enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
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};
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} /// namespace gtsam
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// Note: PriorFactor has been moved to gtsam/nonlinear. This file has been
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// left here for backwards compatibility.
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#include <gtsam/nonlinear/PriorFactor.h>
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