VelocityConstraint3.h

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#pragma once
 
#include <gtsam/nonlinear/NonlinearFactor.h>
 
namespace gtsam {
 
class VelocityConstraint3 : public NoiseModelFactor3<double, double, double> {
public:
 
protected:
  typedef NoiseModelFactor3<double, double, double> Base;
 
  VelocityConstraint3() {}
 
  double dt_;
 
public:
 
  typedef boost::shared_ptr<VelocityConstraint3 > shared_ptr;
 
  VelocityConstraint3(Key key1, Key key2, Key velKey, double dt, double mu = 1000.0)
  : Base(noiseModel::Constrained::All(1, std::abs(mu)), key1, key2, velKey), dt_(dt) {}
  ~VelocityConstraint3() override {}
 
  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new VelocityConstraint3(*this))); }
 
  Vector evaluateError(const double& x1, const double& x2, const double& v,
      boost::optional<Matrix&> H1 = boost::none,
      boost::optional<Matrix&> H2 = boost::none,
      boost::optional<Matrix&> H3 = boost::none) const override {
    const size_t p = 1;
    if (H1) *H1 = Matrix::Identity(p,p);
    if (H2) *H2 = -Matrix::Identity(p,p);
    if (H3) *H3 = Matrix::Identity(p,p)*dt_;
    return (Vector(1) << x1+v*dt_-x2).finished();
  }
 
private:
 
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("NoiseModelFactor3",
        boost::serialization::base_object<Base>(*this));
  }
}; // \VelocityConstraint3
 
}