GPSFactor.h

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/* ----------------------------------------------------------------------------
 
 * 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
 
 * -------------------------------------------------------------------------- */

#pragma once
 
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NoiseModelFactorN.h>
#include <gtsam/navigation/NavState.h>
#include <gtsam/geometry/Pose3.h>
 
namespace gtsam {

class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3> {
 
private:
 
  typedef NoiseModelFactorN<Pose3> Base;
 
  Point3 nT_; 
 
public:
 
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<GPSFactor> shared_ptr;

  typedef GPSFactor This;

  GPSFactor(): nT_(0, 0, 0) {}
 
  ~GPSFactor() override {}

  GPSFactor(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
      Base(model, key), nT_(gpsIn) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector evaluateError(const Pose3& nTb, OptionalMatrixType H) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }

  static std::pair<Pose3, Vector3> EstimateState(double t1, const Point3& NED1,
      double t2, const Point3& NED2, double timestamp);
 
private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION  
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
    ar
        & boost::serialization::make_nvp("NoiseModelFactor1",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(nT_);
  }
#endif
};

class GTSAM_EXPORT GPSFactorArm: public NoiseModelFactorN<Pose3> {
 
private:
 
  typedef NoiseModelFactorN<Pose3> Base;
 
  Point3 nT_;  
  Point3 bL_;  
 
public:
 
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<GPSFactorArm> shared_ptr;

  typedef GPSFactorArm This;

  GPSFactorArm():nT_(0, 0, 0), bL_(0, 0, 0) {}
 
  ~GPSFactorArm() override {}

  GPSFactorArm(Key key, const Point3& gpsIn, const Point3& leverArm, const SharedNoiseModel& model) :
      Base(model, key), nT_(gpsIn), bL_(leverArm) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector evaluateError(const Pose3& nTb, OptionalMatrixType H) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }

  inline const Point3 & leverArm() const {
    return bL_;
  }
 
private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for valid XML tag names
    ar
        & boost::serialization::make_nvp("NoiseModelFactor1",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(nT_);
    ar & BOOST_SERIALIZATION_NVP(bL_);
  }
#endif
};

template <>
struct traits<GPSFactorArm> : public Testable<GPSFactorArm> {};

class GTSAM_EXPORT GPSFactorArmCalib
    : public NoiseModelFactorT<Vector3, Pose3, Point3> {
 
private:
 
  typedef NoiseModelFactorT<Vector3, Pose3, Point3> Base;
 
  Point3 nT_;  
 
public:
 
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<GPSFactorArmCalib> shared_ptr;

  typedef GPSFactorArmCalib This;

  GPSFactorArmCalib() : nT_(0, 0, 0) {}
 
  ~GPSFactorArmCalib() override {}

  GPSFactorArmCalib(Key key1, Key key2, const Point3& gpsIn, const SharedNoiseModel& model) :
      Base(model, key1, key2), nT_(gpsIn) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector3 evaluateError(const Pose3& nTb, const Point3& bL,
                        OptionalMatrixType H1,
                        OptionalMatrixType H2) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }
 
private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor2 instead of NoiseModelFactorN for valid XML tag names
    ar
        & boost::serialization::make_nvp("NoiseModelFactor2",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(nT_);
  }
#endif
};

template <>
struct traits<GPSFactorArmCalib> : public Testable<GPSFactorArmCalib> {};

class GTSAM_EXPORT GPSFactor2: public NoiseModelFactorN<NavState> {
 
private:
 
  typedef NoiseModelFactorN<NavState> Base;
 
  Point3 nT_; 
 
public:
 
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<GPSFactor2> shared_ptr;

  typedef GPSFactor2 This;

  GPSFactor2():nT_(0, 0, 0) {}
 
  ~GPSFactor2() override {}

  GPSFactor2(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
      Base(model, key), nT_(gpsIn) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector evaluateError(const NavState& nTb, OptionalMatrixType H) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }
 
private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
    ar
        & boost::serialization::make_nvp("NoiseModelFactor1",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(nT_);
  }
#endif
};

class GTSAM_EXPORT GPSFactor2Arm: public NoiseModelFactorN<NavState> {
 
private:
 
  typedef NoiseModelFactorN<NavState> Base;
 
  Point3 nT_;  
  Point3 bL_;  
 
public:
 
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<GPSFactor2Arm> shared_ptr;

  typedef GPSFactor2Arm This;

  GPSFactor2Arm():nT_(0, 0, 0), bL_(0, 0, 0) {}
 
  ~GPSFactor2Arm() override {}

  GPSFactor2Arm(Key key, const Point3& gpsIn, const Point3& leverArm, const SharedNoiseModel& model) :
      Base(model, key), nT_(gpsIn), bL_(leverArm) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector evaluateError(const NavState& nTb, OptionalMatrixType H) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }

  inline const Point3 & leverArm() const {
    return bL_;
  }
 
private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for valid XML tag names
    ar
        & boost::serialization::make_nvp("NoiseModelFactor1",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(nT_);
    ar & BOOST_SERIALIZATION_NVP(bL_);
  }
#endif
};

template <>
struct traits<GPSFactor2Arm> : public Testable<GPSFactor2Arm> {};

class GTSAM_EXPORT GPSFactor2ArmCalib
    : public NoiseModelFactorT<Vector3, NavState, Point3> {
 
private:
 
  typedef NoiseModelFactorT<Vector3, NavState, Point3> Base;
 
  Point3 nT_; 
 
public:
 
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<GPSFactor2ArmCalib> shared_ptr;

  typedef GPSFactor2ArmCalib This;

  GPSFactor2ArmCalib():nT_(0, 0, 0) {}
 
  ~GPSFactor2ArmCalib() override {}

  GPSFactor2ArmCalib(Key key1, Key key2, const Point3& gpsIn, const SharedNoiseModel& model) :
      Base(model, key1, key2), nT_(gpsIn) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector3 evaluateError(const NavState& nTb, const Point3& bL,
                        OptionalMatrixType H1,
                        OptionalMatrixType H2) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }
 
private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor2 instead of NoiseModelFactorN for valid XML tag names
    ar
        & boost::serialization::make_nvp("NoiseModelFactor2",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(nT_);
  }
#endif
};

template <>
struct traits<GPSFactor2ArmCalib> : public Testable<GPSFactor2ArmCalib> {};
 
}