125 lines
4.4 KiB
C++
125 lines
4.4 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 BearingRangeFactor.h
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* @date Apr 1, 2010
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* @author Kai Ni
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* @brief a single factor contains both the bearing and the range to prevent handle to pair bearing and range factors
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*/
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#pragma once
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#include <gtsam/geometry/concepts.h>
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#include <gtsam/base/Testable.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 bearing measurement
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* @addtogroup SLAM
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*/
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template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
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class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT>
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{
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public:
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typedef BearingRangeFactor<POSE, POINT> This;
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typedef NoiseModelFactor2<POSE, POINT> Base;
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typedef boost::shared_ptr<This> shared_ptr;
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private:
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typedef POSE Pose;
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typedef ROTATION Rot;
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typedef POINT Point;
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// the measurement
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Rot measuredBearing_;
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double measuredRange_;
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/** concept check by type */
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GTSAM_CONCEPT_TESTABLE_TYPE(Rot)
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GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(Pose, Point)
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GTSAM_CONCEPT_POSE_TYPE(Pose)
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public:
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BearingRangeFactor() {} /* Default constructor */
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BearingRangeFactor(Key poseKey, Key pointKey, const Rot& measuredBearing, const double measuredRange,
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const SharedNoiseModel& model) :
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Base(model, poseKey, pointKey), measuredBearing_(measuredBearing), measuredRange_(measuredRange) {
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}
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virtual ~BearingRangeFactor() {}
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/// @return a deep copy of this factor
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virtual gtsam::NonlinearFactor::shared_ptr clone() const {
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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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/** Print */
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virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
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std::cout << s << "BearingRangeFactor("
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<< keyFormatter(this->key1()) << ","
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<< keyFormatter(this->key2()) << ")\n";
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measuredBearing_.print("measured bearing: ");
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std::cout << "measured range: " << measuredRange_ << std::endl;
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this->noiseModel_->print("noise model:\n");
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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) &&
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fabs(this->measuredRange_ - e->measuredRange_) < tol &&
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this->measuredBearing_.equals(e->measuredBearing_, tol);
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}
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/** h(x)-z -> between(z,h(x)) for Rot manifold */
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Vector evaluateError(const Pose& pose, const Point& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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Matrix H11, H21, H12, H22;
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boost::optional<Matrix&> H11_ = H1 ? boost::optional<Matrix&>(H11) : boost::optional<Matrix&>();
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boost::optional<Matrix&> H21_ = H1 ? boost::optional<Matrix&>(H21) : boost::optional<Matrix&>();
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boost::optional<Matrix&> H12_ = H2 ? boost::optional<Matrix&>(H12) : boost::optional<Matrix&>();
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boost::optional<Matrix&> H22_ = H2 ? boost::optional<Matrix&>(H22) : boost::optional<Matrix&>();
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Rot y1 = pose.bearing(point, H11_, H12_);
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Vector e1 = Rot::Logmap(measuredBearing_.between(y1));
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double y2 = pose.range(point, H21_, H22_);
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Vector e2 = (Vector(1) << y2 - measuredRange_).finished();
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if (H1) *H1 = gtsam::stack(2, &H11, &H21);
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if (H2) *H2 = gtsam::stack(2, &H12, &H22);
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return concatVectors(2, &e1, &e2);
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}
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/** return the measured */
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const std::pair<Rot, double> measured() const {
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return std::make_pair(measuredBearing_, measuredRange_);
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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(measuredBearing_);
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ar & BOOST_SERIALIZATION_NVP(measuredRange_);
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}
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}; // BearingRangeFactor
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} // namespace gtsam
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