48 lines
1.0 KiB
C++
48 lines
1.0 KiB
C++
/**
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* @file RangeFactor.H
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* @authors Frank Dellaert
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**/
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#pragma once
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Point2.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 range measurement
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*/
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template<class Values, class PoseKey, class PointKey>
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class RangeFactor: public NonlinearFactor2<Values, PoseKey, PointKey> {
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private:
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double z_; /** measurement */
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typedef NonlinearFactor2<Values, PoseKey, PointKey> Base;
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public:
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RangeFactor(); /* Default constructor */
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RangeFactor(const PoseKey& i, const PointKey& j, double z,
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const SharedGaussian& model) :
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Base(model, i, j), z_(z) {
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}
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/** h(x)-z */
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Vector evaluateError(const Pose2& pose, const Point2& point,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
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double hx = pose.range(point, H1, H2);
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return Vector_(1, hx - z_);
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}
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/** return the measured */
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inline double measured() const {
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return z_;
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}
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}; // RangeFactor
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} // namespace gtsam
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