OrientedPlane3Factor.h
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1 /*
2  * @file OrientedPlane3Factor.cpp
3  * @brief OrientedPlane3 Factor class
4  * @author Alex Trevor
5  * @date December 22, 2013
6  */
7 
8 #pragma once
9 
12 
13 namespace gtsam {
14 
18 class GTSAM_EXPORT OrientedPlane3Factor: public NoiseModelFactorN<Pose3, OrientedPlane3> {
19  protected:
22 
23  public:
24 
25  // Provide access to the Matrix& version of evaluateError:
26  using NoiseModelFactor2<Pose3, OrientedPlane3>::evaluateError;
27 
30  }
31  ~OrientedPlane3Factor() override {}
32 
40  OrientedPlane3Factor(const Vector4& z, const SharedGaussian& noiseModel,
41  Key poseKey, Key landmarkKey)
42  : Base(noiseModel, poseKey, landmarkKey), measured_p_(z) {}
43 
45  void print(const std::string& s = "OrientedPlane3Factor",
46  const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
47 
49  Vector evaluateError(
50  const Pose3& pose, const OrientedPlane3& plane,
51  OptionalMatrixType H1, OptionalMatrixType H2) const override;
52 };
53 
54 // TODO: Convert this factor to dimension two, three dimensions is redundant for direction prior
55 class GTSAM_EXPORT OrientedPlane3DirectionPrior : public NoiseModelFactorN<OrientedPlane3> {
56  protected:
59 
60  public:
61 
62  // Provide access to the Matrix& version of evaluateError:
63  using Base::evaluateError;
64 
68  }
69 
72  const SharedGaussian& noiseModel)
73  : Base(noiseModel, key), measured_p_(z) {}
74 
76  void print(const std::string& s = "OrientedPlane3DirectionPrior",
77  const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
78 
80  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;
81 
82  Vector evaluateError(const OrientedPlane3& plane, OptionalMatrixType H) const override;
83 };
84 
85 } // gtsam
86 
OrientedPlane3DirectionPrior This
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
const gtsam::Symbol key('X', 0)
OrientedPlane3Factor(const Vector4 &z, const SharedGaussian &noiseModel, Key poseKey, Key landmarkKey)
const gtsam::Key poseKey
OrientedPlane3DirectionPrior(Key key, const Vector4 &z, const SharedGaussian &noiseModel)
Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol.
Matrix expected
Definition: testMatrix.cpp:971
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static const KeyFormatter DefaultKeyFormatter
Definition: Key.h:43
Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distan...
Matrix * OptionalMatrixType
Eigen::VectorXd Vector
Definition: Vector.h:38
Array< double, 1, 3 > e(1./3., 0.5, 2.)
RealScalar s
NoiseModelFactorN< Pose3, OrientedPlane3 > Base
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
traits
Definition: chartTesting.h:28
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
NoiseModelFactorN< OrientedPlane3 > Base
measured plane parameters
Non-linear factor base classes.
const G double tol
Definition: Group.h:86
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:102
noiseModel::Gaussian::shared_ptr SharedGaussian
Definition: NoiseModel.h:742


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