40 lines
1.1 KiB
C++
40 lines
1.1 KiB
C++
/**
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* @file simulated2DOriented
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* @brief measurement functions and derivatives for simulated 2D robot
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* @author Frank Dellaert
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*/
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#include "simulated2DOriented.h"
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#include "TupleConfig-inl.h"
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namespace gtsam {
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using namespace simulated2DOriented;
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// INSTANTIATE_LIE_CONFIG(PointKey, Point2)
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// INSTANTIATE_PAIR_CONFIG(PoseKey, Pose2, PointKey, Point2)
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// INSTANTIATE_NONLINEAR_FACTOR_GRAPH(Config)
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// INSTANTIATE_NONLINEAR_OPTIMIZER(Graph, Config)
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namespace simulated2DOriented {
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static Matrix I = gtsam::eye(3);
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/* ************************************************************************* */
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Pose2 prior(const Pose2& x, boost::optional<Matrix&> H) {
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if (H) *H = I;
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return x;
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}
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/* ************************************************************************* */
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Pose2 odo(const Pose2& x1, const Pose2& x2, boost::optional<Matrix&> H1,
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boost::optional<Matrix&> H2) {
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if (H1) *H1 = -I;
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if (H2) *H2 = I;
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return between(x1, x2);
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}
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/* ************************************************************************* */
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} // namespace simulated2DOriented
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} // namespace gtsam
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