AttitudeFactor.cpp
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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 #include "AttitudeFactor.h"
20 
21 using namespace std;
22 
23 namespace gtsam {
24 
25 //***************************************************************************
26 Vector AttitudeFactor::attitudeError(const Rot3& nRb,
27  OptionalJacobian<2, 3> H) const {
28  if (H) {
29  Matrix23 D_nRef_R;
30  Matrix22 D_e_nRef;
31  Unit3 nRef = nRb.rotate(bRef_, D_nRef_R);
32  Vector e = nZ_.error(nRef, D_e_nRef);
33 
34  (*H) = D_e_nRef * D_nRef_R;
35  return e;
36  } else {
37  Unit3 nRef = nRb * bRef_;
38  return nZ_.error(nRef);
39  }
40 }
41 
42 //***************************************************************************
43 void Rot3AttitudeFactor::print(const string& s,
44  const KeyFormatter& keyFormatter) const {
45  cout << (s.empty() ? "" : s + " ") << "Rot3AttitudeFactor on "
46  << keyFormatter(this->key()) << "\n";
47  nZ_.print(" measured direction in nav frame: ");
48  bRef_.print(" reference direction in body frame: ");
49  this->noiseModel_->print(" noise model: ");
50 }
51 
52 //***************************************************************************
53 bool Rot3AttitudeFactor::equals(const NonlinearFactor& expected,
54  double tol) const {
55  const This* e = dynamic_cast<const This*>(&expected);
56  return e != nullptr && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol)
57  && this->bRef_.equals(e->bRef_, tol);
58 }
59 
60 //***************************************************************************
61 void Pose3AttitudeFactor::print(const string& s,
62  const KeyFormatter& keyFormatter) const {
63  cout << s << "Pose3AttitudeFactor on " << keyFormatter(this->key()) << "\n";
64  nZ_.print(" measured direction in nav frame: ");
65  bRef_.print(" reference direction in body frame: ");
66  this->noiseModel_->print(" noise model: ");
67 }
68 
69 //***************************************************************************
70 bool Pose3AttitudeFactor::equals(const NonlinearFactor& expected,
71  double tol) const {
72  const This* e = dynamic_cast<const This*>(&expected);
73  return e != nullptr && Base::equals(*e, tol) && this->nZ_.equals(e->nZ_, tol)
74  && this->bRef_.equals(e->bRef_, tol);
75 }
76 
77 //***************************************************************************
78 
79 }
const gtsam::Symbol key('X', 0)
Matrix expected
Definition: testMatrix.cpp:971
Definition: BFloat16.h:88
EIGEN_STRONG_INLINE Packet4f print(const Packet4f &a)
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Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition: Rot3.h:58
Represents a 3D point on a unit sphere.
Definition: Unit3.h:42
const Rot3 nRb
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Definition: Vector.h:38
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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
Header file for Attitude factor.
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Definition: chartTesting.h:28
const G double tol
Definition: Group.h:86
Point3 rotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Definition: Rot3M.cpp:148
bool equals(const This &other, double tol=1e-9) const
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Definition: Factor.cpp:42


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autogenerated on Tue Jul 4 2023 02:33:56