15 lines
495 B
C++
15 lines
495 B
C++
class UnaryFactor: public NoiseModelFactor1<Pose2> {
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double mx_, my_; ///< X and Y measurements
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public:
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UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model):
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NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
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Vector evaluateError(const Pose2& q,
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boost::optional<Matrix&> H = boost::none) const
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{
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if (H) (*H) = (Matrix(2,3)<< 1.0,0.0,0.0, 0.0,1.0,0.0).finished();
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return (Vector(2) << q.x() - mx_, q.y() - my_).finished();
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}
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};
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