111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
/**
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* @file PoseToPointFactor.h
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* @brief This factor can be used to model relative position measurements
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* from a (2D or 3D) pose to a landmark
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* @author David Wisth
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* @author Luca Carlone
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**/
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#pragma once
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <ostream>
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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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* @ingroup slam
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*/
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template<typename POSE = Pose3, typename POINT = Point3>
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class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
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private:
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typedef PoseToPointFactor This;
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typedef NoiseModelFactorN<POSE, POINT> Base;
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POINT measured_; /** the point measurement in local coordinates */
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public:
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// Provide access to the Matrix& version of evaluateError:
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using Base::evaluateError;
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// shorthand for a smart pointer to a factor
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typedef std::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 POINT& measured,
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const SharedNoiseModel& model)
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: Base(model, key1, key2), measured_(measured) {}
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virtual ~PoseToPointFactor() {}
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/** implement functions needed for Testable */
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/** print */
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void print(const std::string& s, const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const override {
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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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bool equals(const NonlinearFactor& expected,
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double tol = 1e-9) const override {
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const This* e = dynamic_cast<const This*>(&expected);
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return e != nullptr && Base::equals(*e, tol) &&
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traits<POINT>::Equals(this->measured_, e->measured_, tol);
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}
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/// @return a deep copy of this factor
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gtsam::NonlinearFactor::shared_ptr clone() const override {
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return std::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new This(*this)));
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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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* @brief Error = w_T_b.inverse()*w_P - measured_
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* @param w_T_b The pose of the body in world coordinates
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* @param w_P The estimated point location in world coordinates
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*
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* Note: measured_ and the error are in local coordiantes.
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*/
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Vector evaluateError(
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const POSE& w_T_b, const POINT& w_P,
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OptionalMatrixType H1,
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OptionalMatrixType H2) const override {
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return w_T_b.transformTo(w_P, H1, H2) - measured_;
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}
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/** return the measured */
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const POINT& measured() const { return measured_; }
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private:
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#if GTSAM_ENABLE_BOOST_SERIALIZATION
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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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// NoiseModelFactor2 instead of NoiseModelFactorN for backward compatibility
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ar& boost::serialization::make_nvp(
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"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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#endif
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}; // \class PoseToPointFactor
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} // namespace gtsam
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