gtsam 4.1.1
gtsam
BearingRangeFactor.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
20#pragma once
21
22#include <gtsam/nonlinear/ExpressionFactor.h>
24#include <boost/concept/assert.hpp>
25
26namespace gtsam {
27
32template <typename A1, typename A2,
33 typename B = typename Bearing<A1, A2>::result_type,
34 typename R = typename Range<A1, A2>::result_type>
36 : public ExpressionFactorN<BearingRange<A1, A2>, A1, A2> {
37 private:
38 typedef BearingRange<A1, A2> T;
41
42 public:
43 typedef boost::shared_ptr<This> shared_ptr;
44
47
49 BearingRangeFactor(Key key1, Key key2, const T &bearingRange,
50 const SharedNoiseModel &model)
51 : Base({{key1, key2}}, model, T(bearingRange)) {
52 this->initialize(expression({{key1, key2}}));
53 }
54
56 BearingRangeFactor(Key key1, Key key2, const B &measuredBearing,
57 const R &measuredRange, const SharedNoiseModel &model)
58 : Base({{key1, key2}}, model, T(measuredBearing, measuredRange)) {
59 this->initialize(expression({{key1, key2}}));
60 }
61
62 ~BearingRangeFactor() override {}
63
65 gtsam::NonlinearFactor::shared_ptr clone() const override {
66 return boost::static_pointer_cast<gtsam::NonlinearFactor>(
67 gtsam::NonlinearFactor::shared_ptr(new This(*this)));
68 }
69
70 // Return measurement expression
71 Expression<T> expression(const typename Base::ArrayNKeys& keys) const override {
74 }
75
76 Vector evaluateError(const A1& a1, const A2& a2,
77 boost::optional<Matrix&> H1 = boost::none,
78 boost::optional<Matrix&> H2 = boost::none) const
79 {
80 std::vector<Matrix> Hs(2);
81 const auto &keys = Factor::keys();
82 const Vector error = unwhitenedError(
83 {{keys[0], genericValue(a1)}, {keys[1], genericValue(a2)}},
84 Hs);
85 if (H1) *H1 = Hs[0];
86 if (H2) *H2 = Hs[1];
87 return error;
88 }
89
91 void print(const std::string& s = "",
92 const KeyFormatter& kf = DefaultKeyFormatter) const override {
93 std::cout << s << "BearingRangeFactor" << std::endl;
94 Base::print(s, kf);
95 }
96
97
98 private:
99 friend class boost::serialization::access;
100 template <class ARCHIVE>
101 void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
102 ar& boost::serialization::make_nvp(
103 "Base", boost::serialization::base_object<Base>(*this));
104 }
105}; // BearingRangeFactor
106
108template <typename A1, typename A2, typename B, typename R>
109struct traits<BearingRangeFactor<A1, A2, B, R> >
110 : public Testable<BearingRangeFactor<A1, A2, B, R> > {};
111
112} // namespace gtsam
Bearing-Range product.
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
Bearing-Range product for a particular A1,A2 combination will use the functors above to create a simi...
Definition: BearingRange.h:50
static BearingRange Measure(const A1 &a1, const A2 &a2, OptionalJacobian< dimension, traits< A1 >::dimension > H1=boost::none, OptionalJacobian< dimension, traits< A2 >::dimension > H2=boost::none)
Prediction function that stacks measurements.
Definition: BearingRange.h:77
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
void initialize(const Expression< BearingRange< A1, A2 > > &expression)
Initialize with constructor arguments.
Definition: ExpressionFactor.h:167
Expression class that supports automatic differentiation.
Definition: Expression.h:48
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: BearingRangeFactor.h:36
BearingRangeFactor()
Default constructor.
Definition: BearingRangeFactor.h:46
BearingRangeFactor(Key key1, Key key2, const B &measuredBearing, const R &measuredRange, const SharedNoiseModel &model)
Construct from separate bearing and range.
Definition: BearingRangeFactor.h:56
BearingRangeFactor(Key key1, Key key2, const T &bearingRange, const SharedNoiseModel &model)
Construct from BearingRange instance.
Definition: BearingRangeFactor.h:49
gtsam::NonlinearFactor::shared_ptr clone() const override
Definition: BearingRangeFactor.h:65
void print(const std::string &s="", const KeyFormatter &kf=DefaultKeyFormatter) const override
print
Definition: BearingRangeFactor.h:91