simulated2D.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

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

// \callgraph
#pragma once

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/geometry/Point2.h>

// \namespace

namespace simulated2D {

  using namespace gtsam;

  // Simulated2D robots have no orientation, just a position

  class Values: public gtsam::Values {
  private:
    int nrPoses_, nrPoints_;

  public:
    typedef gtsam::Values Base;  
    typedef boost::shared_ptr<Point2> sharedPoint;  

    Values() : nrPoses_(0), nrPoints_(0) {
    }

    Values(const Base& base) :
        Base(base), nrPoses_(0), nrPoints_(0) {
    }

    void insertPose(Key i, const Point2& p) {
      insert(i, p);
      nrPoses_++;
    }

    void insertPoint(Key j, const Point2& p) {
      insert(j, p);
      nrPoints_++;
    }

    int nrPoses() const {
      return nrPoses_;
    }

    int nrPoints() const {
      return nrPoints_;
    }

    Point2 pose(Key i) const {
      return at<Point2>(i);
    }

    Point2 point(Key j) const {
      return at<Point2>(j);
    }
  };

  inline Point2 prior(const Point2& x) {
    return x;
  }

  inline Point2 prior(const Point2& x, boost::optional<Matrix&> H = boost::none) {
    if (H) *H = I_2x2;
    return x;
  }

  inline Point2 odo(const Point2& x1, const Point2& x2) {
    return x2 - x1;
  }

  inline Point2 odo(const Point2& x1, const Point2& x2, boost::optional<Matrix&> H1 =
    boost::none, boost::optional<Matrix&> H2 = boost::none) {
      if (H1) *H1 = -I_2x2;
      if (H2) *H2 = I_2x2;
      return x2 - x1;
  }

  inline Point2 mea(const Point2& x, const Point2& l) {
    return l - x;
  }

  inline Point2 mea(const Point2& x, const Point2& l, boost::optional<Matrix&> H1 =
    boost::none, boost::optional<Matrix&> H2 = boost::none) {
      if (H1) *H1 = -I_2x2;
      if (H2) *H2 = I_2x2;
      return l - x;
  }

  template<class VALUE = Point2>
  class GenericPrior: public NoiseModelFactor1<VALUE> {
  public:
    typedef NoiseModelFactor1<VALUE> Base;  
    typedef GenericPrior<VALUE> This;
    typedef boost::shared_ptr<GenericPrior<VALUE> > shared_ptr;
    typedef VALUE Pose; 

    Pose measured_; 

    GenericPrior(const Pose& z, const SharedNoiseModel& model, Key key) :
      Base(model, key), measured_(z) {
    }

    Vector evaluateError(const Pose& x, boost::optional<Matrix&> H = boost::none) const override {
      return (prior(x, H) - measured_);
    }

    ~GenericPrior() override {}

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

  private:

    GenericPrior() { }

    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(measured_);
    }
  };

  template<class VALUE = Point2>
  class GenericOdometry: public NoiseModelFactor2<VALUE, VALUE> {
  public:
    typedef NoiseModelFactor2<VALUE, VALUE> Base; 
    typedef GenericOdometry<VALUE> This;
    typedef boost::shared_ptr<GenericOdometry<VALUE> > shared_ptr;
    typedef VALUE Pose; 

    Pose measured_; 

    GenericOdometry(const Pose& measured, const SharedNoiseModel& model, Key i1, Key i2) :
          Base(model, i1, i2), measured_(measured) {
    }

    Vector evaluateError(const Pose& x1, const Pose& x2,
        boost::optional<Matrix&> H1 = boost::none,
        boost::optional<Matrix&> H2 = boost::none) const override {
      return (odo(x1, x2, H1, H2) - measured_);
    }

    ~GenericOdometry() override {}

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

  private:

    GenericOdometry() { }

    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(measured_);
    }
  };

  template<class POSE, class LANDMARK>
  class GenericMeasurement: public NoiseModelFactor2<POSE, LANDMARK> {
  public:
    typedef NoiseModelFactor2<POSE, LANDMARK> Base;  
    typedef GenericMeasurement<POSE, LANDMARK> This;
    typedef boost::shared_ptr<GenericMeasurement<POSE, LANDMARK> > shared_ptr;
    typedef POSE Pose; 
    typedef LANDMARK Landmark; 

    Landmark measured_; 

    GenericMeasurement(const Landmark& measured, const SharedNoiseModel& model, Key i, Key j) :
          Base(model, i, j), measured_(measured) {
    }

    Vector evaluateError(const Pose& x1, const Landmark& x2,
        boost::optional<Matrix&> H1 = boost::none,
        boost::optional<Matrix&> H2 = boost::none) const override {
      return (mea(x1, x2, H1, H2) - measured_);
    }

    ~GenericMeasurement() override {}

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

  private:

    GenericMeasurement() { }

    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(measured_);
    }
  };

  typedef GenericPrior<Point2> Prior;
  typedef GenericOdometry<Point2> Odometry;
  typedef GenericMeasurement<Point2, Point2> Measurement;

  // Specialization of a graph for this example domain
  // TODO: add functions to add factor types
  class Graph : public NonlinearFactorGraph {
  public:
    Graph() {}
  };

} // namespace simulated2D

namespace gtsam {
template<class POSE, class LANDMARK>
struct traits<simulated2D::GenericMeasurement<POSE, LANDMARK> > : Testable<
    simulated2D::GenericMeasurement<POSE, LANDMARK> > {
};

template<>
struct traits<simulated2D::Values> : public Testable<simulated2D::Values> {
};
}