134 lines
4.5 KiB
C++
134 lines
4.5 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 ReferenceFrameFactor.h
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* @brief A constraint for combining graphs by common landmarks and a transform node
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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/**
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* Transform function that must be specialized specific domains
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* @tparam T is a Transform type
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* @tparam P is a point type
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*/
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template<class T, class P>
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P transform_point(
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const T& trans, const P& global,
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boost::optional<Matrix&> Dtrans,
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boost::optional<Matrix&> Dglobal) {
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return trans.transform_from(global, Dtrans, Dglobal);
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}
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/**
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* A constraint between two landmarks in separate maps
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* Templated on:
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* Point : Type of landmark
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* Transform : Transform variable class
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*
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* The transform is defined as transforming global to local:
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* l = lTg * g
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*
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* The Point and Transform concepts must be Lie types, and the transform
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* relationship "Point = transform_from(Transform, Point)" must exist.
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*
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* To implement this function in new domains, specialize a new version of
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* Point transform_point<Transform,Point>(transform, global, Dtrans, Dglobal)
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* to use the correct point and transform types.
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*
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* This base class should be specialized to implement the cost function for
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* specific classes of landmarks
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*/
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template<class POINT, class TRANSFORM>
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class ReferenceFrameFactor : public NoiseModelFactor3<POINT, TRANSFORM, POINT> {
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protected:
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/** default constructor for serialization only */
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ReferenceFrameFactor() {}
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public:
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typedef NoiseModelFactor3<POINT, TRANSFORM, POINT> Base;
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typedef ReferenceFrameFactor<POINT, TRANSFORM> This;
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typedef POINT Point;
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typedef TRANSFORM Transform;
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/**
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* General constructor with arbitrary noise model (constrained or otherwise)
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*/
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ReferenceFrameFactor(Key globalKey, Key transKey, Key localKey, const noiseModel::Base::shared_ptr& model)
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: Base(model,globalKey, transKey, localKey) {}
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/**
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* Construct a hard frame of reference reference constraint with equal mu values for
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* each degree of freedom.
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*/
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ReferenceFrameFactor(double mu, Key globalKey, Key transKey, Key localKey)
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: Base(globalKey, transKey, localKey, Point().dim(), mu) {}
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/**
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* Simple soft constraint constructor for frame of reference, with equal weighting for
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* each degree of freedom.
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*/
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ReferenceFrameFactor(Key globalKey, Key transKey, Key localKey, double sigma = 1e-2)
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: Base(noiseModel::Isotropic::Sigma(POINT().dim(), sigma),
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globalKey, transKey, localKey) {}
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virtual ~ReferenceFrameFactor(){}
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virtual NonlinearFactor::shared_ptr clone() const {
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return boost::static_pointer_cast<NonlinearFactor>(
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NonlinearFactor::shared_ptr(new This(*this))); }
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/** Combined cost and derivative function using boost::optional */
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virtual Vector evaluateError(const Point& global, const Transform& trans, const Point& local,
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boost::optional<Matrix&> Dforeign = boost::none,
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boost::optional<Matrix&> Dtrans = boost::none,
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boost::optional<Matrix&> Dlocal = boost::none) const {
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Point newlocal = transform_point<Transform,Point>(trans, global, Dtrans, Dforeign);
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if (Dlocal) {
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Point dummy;
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*Dlocal = -1* gtsam::eye(dummy.dim());
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}
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return local.localCoordinates(newlocal);
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}
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virtual void print(const std::string& s="",
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const gtsam::KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
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std::cout << s << ": ReferenceFrameFactor("
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<< "Global: " << keyFormatter(this->key1()) << ","
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<< " Transform: " << keyFormatter(this->key2()) << ","
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<< " Local: " << keyFormatter(this->key3()) << ")\n";
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this->noiseModel_->print(" noise model");
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}
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// access - convenience functions
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Key global_key() const { return this->key1(); }
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Key transform_key() const { return this->key2(); }
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Key local_key() const { return this->key3(); }
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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("NonlinearFactor3",
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boost::serialization::base_object<Base>(*this));
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}
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};
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} // \namespace gtsam
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