PosePriorFactor.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/base/Testable.h>
#include <gtsam/geometry/concepts.h>
#include <gtsam/nonlinear/NoiseModelFactorN.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
 
namespace gtsam {

  template<class POSE>
  class PosePriorFactor: public NoiseModelFactorN<POSE> {
 
  private:
 
    typedef PosePriorFactor<POSE> This;
    typedef NoiseModelFactorN<POSE> Base;
 
    POSE prior_; 
    std::optional<POSE> body_P_sensor_; 

    GTSAM_CONCEPT_TESTABLE_TYPE(POSE)
    GTSAM_CONCEPT_POSE_TYPE(POSE)
  public:
 
    // Provide access to the Matrix& version of evaluateError:
    using Base::evaluateError;

    typedef typename std::shared_ptr<PosePriorFactor<POSE> > shared_ptr;

    PosePriorFactor() {}
 
    ~PosePriorFactor() override {}

    PosePriorFactor(Key key, const POSE& prior, const SharedNoiseModel& model,
        std::optional<POSE> body_P_sensor = {}) :
      Base(model, key), prior_(prior), body_P_sensor_(body_P_sensor) {
    }

    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 {
      std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n";
      prior_.print("  prior mean: ");
      if(this->body_P_sensor_)
        this->body_P_sensor_->print("  sensor pose in body frame: ");
      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)
          && this->prior_.equals(e->prior_, tol)
          && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_)));
    }


    Vector evaluateError(const POSE& p, OptionalMatrixType H) const override {
      if(body_P_sensor_) {
        // manifold equivalent of h(x)-z -> log(z,h(x))
        return prior_.localCoordinates(p.compose(*body_P_sensor_, H));
      } else {
        if(H) (*H) = I_6x6;
        // manifold equivalent of h(x)-z -> log(z,h(x))
        return prior_.localCoordinates(p);
      }
    }
 
    const POSE& prior() const { return prior_; }
 
  private:
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
      ar & BOOST_SERIALIZATION_NVP(prior_);
      ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
    }
#endif
  };
 
}