BiasedGPSFactor.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/base/MatrixConstants.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/NoiseModelFactorN.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
 
#include <ostream>
 
namespace gtsam {

  class BiasedGPSFactor
      : public NoiseModelFactorT<Vector3, Pose3, Point3> {
 
  private:
 
    typedef BiasedGPSFactor This;
    typedef NoiseModelFactorT<Vector3, Pose3, Point3> Base;
 
    Point3 measured_; 
 
  public:
 
    // Provide access to the Matrix& version of evaluateError:
    using Base::evaluateError;
 
    // shorthand for a smart pointer to a factor
    typedef std::shared_ptr<BiasedGPSFactor> shared_ptr;

    BiasedGPSFactor() {}

    BiasedGPSFactor(Key posekey, Key biaskey, const Point3 measured,
        const SharedNoiseModel& model) :
      Base(model, posekey, biaskey), measured_(measured) {
    }
 
    ~BiasedGPSFactor() override {}


    void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
      std::cout << s << "BiasedGPSFactor("
          << keyFormatter(this->key<1>()) << ","
          << keyFormatter(this->key<2>()) << ")\n"
          << "  measured: " << measured_.transpose() << std::endl;
      this->noiseModel_->print("  noise model: ");
    }

    bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
      const This *e =  dynamic_cast<const This*> (&expected);
      return e != nullptr && Base::equals(*e, tol) && traits<Point3>::Equals(this->measured_, e->measured_, tol);
    }


    Vector3 evaluateError(const Pose3& pose, const Point3& bias,
                          OptionalMatrixType H1,
                          OptionalMatrixType H2) const override {
 
      if (H1 || H2){
        H1->resize(3,6); // jacobian wrt pose
        (*H1) << Z_3x3,  pose.rotation().matrix();
        H2->resize(3,3); // jacobian wrt bias
        *H2 = I_3x3;
      }
      return pose.translation() + bias - measured_;
    }

    const Point3 measured() const {
      return measured_;
    }
 
  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 backward compatibility
      ar & boost::serialization::make_nvp("NoiseModelFactor2",
          boost::serialization::base_object<Base>(*this));
      ar & BOOST_SERIALIZATION_NVP(measured_);
    }
#endif
  }; // \class BiasedGPSFactor
 
}