79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
/**
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* @file RelativeElevationFactor.h
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*
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* @brief Factor representing a known relative altitude in global frame
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*
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* @date Aug 17, 2012
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam_unstable/dllexport.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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/**
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* Binary factor for a relative elevation. Note that this
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* factor takes into account only elevation, and corrects for orientation.
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* Unlike a range factor, the relative elevation is signed, and only affects
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* the Z coordinate. Measurement function h(pose, pt) = h.z() - pt.z()
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*
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* Dimension: 1
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*
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* TODO: enable use of a Pose3 for the target as well
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*/
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class GTSAM_UNSTABLE_EXPORT RelativeElevationFactor: public NoiseModelFactor2<Pose3, Point3> {
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private:
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double measured_; /** measurement */
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typedef RelativeElevationFactor This;
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typedef NoiseModelFactor2<Pose3, Point3> Base;
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public:
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RelativeElevationFactor() : measured_(0.0) {} /* Default constructor */
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RelativeElevationFactor(Key poseKey, Key pointKey, double measured,
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const SharedNoiseModel& model);
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~RelativeElevationFactor() override {}
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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 boost::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
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/** h(x)-z */
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Vector evaluateError(const Pose3& pose, const Point3& point,
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boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const override;
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/** return the measured */
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inline double measured() const { return measured_; }
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/** equals specialized to this factor */
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bool equals(const NonlinearFactor& expected, double tol=1e-9) const override;
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/** print contents */
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void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
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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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}; // RelativeElevationFactor
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} // \namespace gtsam
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