100 lines
2.6 KiB
C++
100 lines
2.6 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 Event
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* @brief Space-time event
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* @author Frank Dellaert
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* @author Jay Chakravarty
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* @date December 2014
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*/
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#pragma once
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#include <gtsam/geometry/Point3.h>
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#include <cmath>
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#include <iosfwd>
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namespace gtsam {
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/// A space-time event
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class Event {
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double time_; ///< Time event was generated
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Point3 location_; ///< Location at time event was generated
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public:
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enum { dimension = 4 };
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/// Default Constructor
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Event() :
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time_(0), location_(0,0,0) {
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}
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/// Constructor from time and location
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Event(double t, const Point3& p) :
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time_(t), location_(p) {
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}
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/// Constructor with doubles
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Event(double t, double x, double y, double z) :
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time_(t), location_(x, y, z) {
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}
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double time() const { return time_;}
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Point3 location() const { return location_;}
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// TODO we really have to think of a better way to do linear arguments
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double height(OptionalJacobian<1,4> H = boost::none) const {
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static const Matrix14 JacobianZ = (Matrix14() << 0,0,0,1).finished();
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if (H) *H = JacobianZ;
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return location_.z();
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}
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/** print with optional string */
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void print(const std::string& s = "") const;
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/** equals with an tolerance */
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bool equals(const Event& other, double tol = 1e-9) const;
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/// Updates a with tangent space delta
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inline Event retract(const Vector4& v) const {
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return Event(time_ + v[0], location_ + Point3(v.tail<3>()));
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}
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/// Returns inverse retraction
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inline Vector4 localCoordinates(const Event& q) const {
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return Vector4::Zero(); // TODO
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}
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/// Time of arrival to given microphone
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double toa(const Point3& microphone, //
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OptionalJacobian<1, 4> H1 = boost::none, //
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OptionalJacobian<1, 3> H2 = boost::none) const {
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static const double Speed = 330;
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Matrix13 D1, D2;
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double distance = gtsam::distance3(location_, microphone, D1, D2);
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if (H1)
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// derivative of toa with respect to event
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*H1 << 1.0, D1 / Speed;
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if (H2)
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// derivative of toa with respect to microphone location
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*H2 << D2 / Speed;
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return time_ + distance / Speed;
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}
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};
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// Define GTSAM traits
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template<>
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struct GTSAM_EXPORT traits<Event> : internal::Manifold<Event> {};
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} //\ namespace gtsam
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