141 lines
3.9 KiB
C++
141 lines
3.9 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 BetweenFactor.h
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* @author Frank Dellaert, Viorela Ila
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**/
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#pragma once
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#include <ostream>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/Lie.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/linear/GaussianFactor.h>
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namespace gtsam {
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/**
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* A class for a measurement predicted by "between(config[key1],config[key2])"
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* @tparam VALUE the Value type
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*/
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template<class VALUE>
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class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
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public:
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typedef VALUE T;
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private:
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typedef BetweenFactor<VALUE> This;
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typedef NoiseModelFactor2<VALUE, VALUE> Base;
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VALUE measured_; /** The measurement */
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/** concept check by type */
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GTSAM_CONCEPT_LIE_TYPE(T)
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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<BetweenFactor> shared_ptr;
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/** default constructor - only use for serialization */
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BetweenFactor() {}
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/** Constructor */
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BetweenFactor(Key key1, Key key2, const VALUE& 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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virtual ~BetweenFactor() {}
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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 {
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std::cout << s << "BetweenFactor("
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<< (std::string) this->key1() << ","
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<< (std::string) this->key2() << ")\n";
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measured_.print(" measured");
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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 != NULL && Base::equals(*e, tol) && this->measured_.equals(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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Vector evaluateError(const T& p1, const T& p2,
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boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =
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boost::none) const {
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T hx = p1.between(p2, H1, H2); // h(x)
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// manifold equivalent of h(x)-z -> log(z,h(x))
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return measured_.localCoordinates(hx);
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}
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/** return the measured */
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const VALUE& measured() const {
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return measured_;
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}
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/** number of variables attached to this factor */
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std::size_t size() const {
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return 2;
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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 BetweenFactor
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/**
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* Binary between constraint - forces between to a given value
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* This constraint requires the underlying type to a Lie type
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*
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*/
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template<class VALUE>
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class BetweenConstraint : public BetweenFactor<VALUE> {
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public:
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typedef boost::shared_ptr<BetweenConstraint<VALUE> > shared_ptr;
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/** Syntactic sugar for constrained version */
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BetweenConstraint(const VALUE& measured, Key key1, Key key2, double mu = 1000.0) :
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BetweenFactor<VALUE>(key1, key2, measured, noiseModel::Constrained::All(VALUE::Dim(), fabs(mu))) {}
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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("BetweenFactor",
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boost::serialization::base_object<BetweenFactor<VALUE> >(*this));
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}
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}; // \class BetweenConstraint
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} /// namespace gtsam
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