50 lines
1.3 KiB
C++
50 lines
1.3 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 TOAFactor.h
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* @brief "Time of Arrival" factor
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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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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <gtsam_unstable/geometry/Event.h>
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namespace gtsam {
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/// A "Time of Arrival" factor - so little code seems hardly worth it :-)
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class TOAFactor: public ExpressionFactor<double> {
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typedef Expression<double> Double_;
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public:
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/**
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* Constructor
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* @param some expression yielding an event
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* @param microphone_ expression yielding a microphone location
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* @param toaMeasurement time of arrival at microphone
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* @param model noise model
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*/
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TOAFactor(const Expression<Event>& eventExpression,
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const Expression<Point3>& microphone_, double toaMeasurement,
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const SharedNoiseModel& model) :
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ExpressionFactor<double>(model, toaMeasurement,
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Double_(&Event::toa, eventExpression, microphone_)) {
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}
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};
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} //\ namespace gtsam
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