58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
/**
|
|
* @file Pose2Factor.H
|
|
* @authors Frank Dellaert, Viorela Ila
|
|
**/
|
|
|
|
#include <map>
|
|
#include "GaussianFactor.h"
|
|
#include "VectorConfig.h"
|
|
#include "Pose2.h"
|
|
#include "Matrix.h"
|
|
#include "Pose2Config.h"
|
|
#include "ostream"
|
|
|
|
namespace gtsam {
|
|
|
|
class Pose2Factor : public Factor<Pose2Config> {
|
|
private:
|
|
std::string key1_, key2_; /** The keys of the two poses, order matters */
|
|
Pose2 measured_;
|
|
Matrix square_root_inverse_covariance_; /** sqrt(inv(measurement_covariance)) */
|
|
|
|
public:
|
|
Pose2Factor(const std::string& key1, const std::string& key2,
|
|
const Pose2& measured, const Matrix& measurement_covariance): key1_(key1),key2_(key2),measured_(measured) {
|
|
square_root_inverse_covariance_ = inverse_square_root(measurement_covariance);
|
|
}
|
|
|
|
/** implement functions needed for Testable */
|
|
void print(const std::string& name) const {
|
|
std::cout << name << std::endl;
|
|
std::cout << "Pose2Contraint"<< std::endl;
|
|
std::cout << "key1 "<< key1_<<std::endl;
|
|
std::cout << "key2 "<< key2_<<std::endl;
|
|
measured_.print("measured ");
|
|
gtsam::print(square_root_inverse_covariance_,"MeasurementCovariance");
|
|
}
|
|
bool equals(const Factor<Pose2Config>& expected, double tol) const {return false;}
|
|
|
|
/** implement functions needed to derive from Factor */
|
|
double error(const Pose2Config& c) const {return 0;}
|
|
std::list<std::string> keys() const { std::list<std::string> l; return l; }
|
|
std::size_t size() const { return 2;}
|
|
|
|
/** linearize */
|
|
boost::shared_ptr<GaussianFactor> linearize(const Pose2Config& config) const {
|
|
Pose2 p1 = config.get(key1_), p2 = config.get(key2_);
|
|
Vector b = (measured_ - between(p1,p2)).vector();
|
|
Matrix H1 = Dbetween1(p1,p2);
|
|
Matrix H2 = Dbetween2(p1,p2);
|
|
boost::shared_ptr<GaussianFactor> linearized(new GaussianFactor(
|
|
key1_, square_root_inverse_covariance_ * H1,
|
|
key2_, square_root_inverse_covariance_ * H2,
|
|
b, 1.0));
|
|
return linearized;
|
|
}
|
|
};
|
|
} /// namespace gtsam
|