EssentialMatrixConstraint.h

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

 * GTSAM Copyright 2010-2014, 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/geometry/EssentialMatrix.h>

namespace gtsam {

class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {

private:

  typedef EssentialMatrixConstraint This;
  typedef NoiseModelFactor2<Pose3, Pose3> Base;

  EssentialMatrix measuredE_; 
public:

  // shorthand for a smart pointer to a factor
  typedef boost::shared_ptr<EssentialMatrixConstraint> shared_ptr;

  EssentialMatrixConstraint() {
  }

  EssentialMatrixConstraint(Key key1, Key key2,
      const EssentialMatrix& measuredE, const SharedNoiseModel& model) :
      Base(model, key1, key2), measuredE_(measuredE) {
  }

  virtual ~EssentialMatrixConstraint() {
  }

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

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

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

  virtual Vector evaluateError(const Pose3& p1, const Pose3& p2,
      boost::optional<Matrix&> Hp1 = boost::none, //
      boost::optional<Matrix&> Hp2 = boost::none) const;

  const EssentialMatrix& measured() const {
    return measuredE_;
  }

  std::size_t size() const {
    return 2;
  }

private:

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar
        & boost::serialization::make_nvp("NoiseModelFactor2",
            boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(measuredE_);
  }

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
// \class EssentialMatrixConstraint

}