50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file simulated2D.cpp
|
|
* @brief measurement functions and derivatives for simulated 2D robot
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#include <tests/simulated2D.h>
|
|
|
|
namespace simulated2D {
|
|
|
|
static Matrix I = gtsam::eye(2);
|
|
|
|
/* ************************************************************************* */
|
|
Point2 prior(const Point2& x, boost::optional<Matrix&> H) {
|
|
if (H) *H = I;
|
|
return x;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Point2 odo(const Point2& x1, const Point2& x2, boost::optional<Matrix&> H1,
|
|
boost::optional<Matrix&> H2) {
|
|
if (H1) *H1 = -I;
|
|
if (H2) *H2 = I;
|
|
return x2 - x1;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Point2 mea(const Point2& x, const Point2& l, boost::optional<Matrix&> H1,
|
|
boost::optional<Matrix&> H2) {
|
|
if (H1) *H1 = -I;
|
|
if (H2) *H2 = I;
|
|
return l - x;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
|
|
} // namespace simulated2D
|
|
|