gtsam 4.1.1
gtsam
BearingFactor.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
19#pragma once
20
21#include <gtsam/nonlinear/ExpressionFactor.h>
22
23namespace gtsam {
24
25// forward declaration of Bearing functor, assumed partially specified
26template <typename A1, typename A2>
27struct Bearing;
28
35template <typename A1, typename A2,
36 typename T = typename Bearing<A1, A2>::result_type>
37struct BearingFactor : public ExpressionFactorN<T, A1, A2> {
39
42
44 BearingFactor(Key key1, Key key2, const T& measured,
45 const SharedNoiseModel& model)
46 : Base({key1, key2}, model, measured) {
47 this->initialize(expression({key1, key2}));
48 }
49
50 // Return measurement expression
51 Expression<T> expression(const typename Base::ArrayNKeys &keys) const override {
52 Expression<A1> a1_(keys[0]);
53 Expression<A2> a2_(keys[1]);
54 return Expression<T>(Bearing<A1, A2>(), a1_, a2_);
55 }
56
58 void print(const std::string& s = "",
59 const KeyFormatter& kf = DefaultKeyFormatter) const override {
60 std::cout << s << "BearingFactor" << std::endl;
61 Base::print(s, kf);
62 }
63
64 Vector evaluateError(const A1& a1, const A2& a2,
65 boost::optional<Matrix&> H1 = boost::none,
66 boost::optional<Matrix&> H2 = boost::none) const
67 {
68 std::vector<Matrix> Hs(2);
69 const auto &keys = Factor::keys();
70 const Vector error = unwhitenedError(
71 {{keys[0], genericValue(a1)}, {keys[1], genericValue(a2)}},
72 Hs);
73 if (H1) *H1 = Hs[0];
74 if (H2) *H2 = Hs[1];
75 return error;
76 }
77
78
79 private:
80 friend class boost::serialization::access;
81 template <class ARCHIVE>
82 void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
83 ar& boost::serialization::make_nvp(
84 "Base", boost::serialization::base_object<Base>(*this));
85 }
86}; // BearingFactor
87
89template <typename A1, typename A2, typename T>
90struct traits<BearingFactor<A1, A2, T> >
91 : public Testable<BearingFactor<A1, A2, T> > {};
92
93} // namespace gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
noiseModel::Base::shared_ptr SharedNoiseModel
Note, deliberately not in noiseModel namespace.
Definition: NoiseModel.h:736
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:69
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
GenericValue< T > genericValue(const T &v)
Functional constructor of GenericValue<T> so T can be automatically deduced.
Definition: GenericValue.h:212
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:151
This is the base class for all factor types.
Definition: Factor.h:56
const KeyVector & keys() const
Access the factor's involved variable keys.
Definition: Factor.h:125
Vector unwhitenedError(const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
Error function without the NoiseModel, .
Definition: ExpressionFactor.h:99
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
print relies on Testable traits being defined for T
Definition: ExpressionFactor.h:80
const typename Bearing< A1, A2 >::result_type & measured() const
return the measurement
Definition: ExpressionFactor.h:77
void initialize(const Expression< typename Bearing< A1, A2 >::result_type > &expression)
Initialize with constructor arguments.
Definition: ExpressionFactor.h:167
N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors.
Definition: ExpressionFactor.h:242
double error(const Values &c) const override
Calculate the error of the factor.
Definition: NonlinearFactor.cpp:127
Definition: BearingFactor.h:37
void print(const std::string &s="", const KeyFormatter &kf=DefaultKeyFormatter) const override
print
Definition: BearingFactor.h:58
BearingFactor(Key key1, Key key2, const T &measured, const SharedNoiseModel &model)
primary constructor
Definition: BearingFactor.h:44
BearingFactor()
default constructor
Definition: BearingFactor.h:41