PoseRotationPrior.h
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1 
10 #pragma once
11 
14 
15 
16 namespace gtsam {
17 
18 template<class POSE>
19 class PoseRotationPrior : public NoiseModelFactorN<POSE> {
20 public:
21 
24  typedef POSE Pose;
25  typedef typename POSE::Translation Translation;
26  typedef typename POSE::Rotation Rotation;
27 
28  // Provide access to the Matrix& version of evaluateError:
29  using Base::evaluateError;
30 
33  GTSAM_CONCEPT_LIE_TYPE(Rotation)
34 
35  // Get dimensions of pose and rotation type at compile time
36  static const int xDim = FixedDimension<POSE>::value;
37  static const int rDim = FixedDimension<typename POSE::Rotation>::value;
38 
39 protected:
40 
41  Rotation measured_;
42 
43 public:
44 
47 
49  PoseRotationPrior(Key key, const Rotation& rot_z, const SharedNoiseModel& model)
50  : Base(model, key), measured_(rot_z) {}
51 
53  PoseRotationPrior(Key key, const POSE& pose_z, const SharedNoiseModel& model)
54  : Base(model, key), measured_(pose_z.rotation()) {}
55 
56  ~PoseRotationPrior() override {}
57 
60  return std::static_pointer_cast<gtsam::NonlinearFactor>(
62 
63  // access
64  const Rotation& measured() const { return measured_; }
65 
66  // testable
67 
69  bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
70  const This *e = dynamic_cast<const This*> (&expected);
71  return e != nullptr && Base::equals(*e, tol) && measured_.equals(e->measured_, tol);
72  }
73 
75  void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
76  Base::print(s + "PoseRotationPrior", keyFormatter);
77  measured_.print("Measured Rotation");
78  }
79 
81  Vector evaluateError(const Pose& pose, OptionalMatrixType H) const override {
82  const Rotation& newR = pose.rotation();
83  if (H) {
84  *H = Matrix::Zero(rDim, xDim);
85  std::pair<size_t, size_t> rotInterval = POSE::rotationInterval();
86  (*H).middleCols(rotInterval.first, rDim).setIdentity(rDim, rDim);
87  }
88 
89  return measured_.localCoordinates(newR);
90  }
91 
92 private:
93 
94 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
95 
96  friend class boost::serialization::access;
97  template<class ARCHIVE>
98  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
99  // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
100  ar & boost::serialization::make_nvp("NoiseModelFactor1",
101  boost::serialization::base_object<Base>(*this));
102  ar & BOOST_SERIALIZATION_NVP(measured_);
103  }
104 #endif
105 };
106 
107 } // \namespace gtsam
108 
109 
110 
111 
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
NoiseModelFactorN< POSE > Base
gtsam::NonlinearFactor::shared_ptr clone() const override
Rot3_ rotation(const Pose3_ &pose)
std::string serialize(const T &input)
serializes to a string
noiseModel::Diagonal::shared_ptr model
Matrix expected
Definition: testMatrix.cpp:971
bool equals(const NonlinearFactor &f, double tol=1e-9) const override
PoseRotationPrior(Key key, const Rotation &rot_z, const SharedNoiseModel &model)
virtual Vector evaluateError(const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
Give fixed size dimension of a type, fails at compile time if dynamic.
Definition: Manifold.h:161
PoseRotationPrior< POSE > This
PoseRotationPrior(Key key, const POSE &pose_z, const SharedNoiseModel &model)
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static const KeyFormatter DefaultKeyFormatter
Definition: Key.h:43
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
bool equals(const NonlinearFactor &expected, double tol=1e-9) const override
#define GTSAM_CONCEPT_POSE_TYPE(T)
Matrix * OptionalMatrixType
Eigen::VectorXd Vector
Definition: Vector.h:38
POSE::Translation Translation
Array< double, 1, 3 > e(1./3., 0.5, 2.)
RealScalar s
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
Vector evaluateError(const Pose &pose, OptionalMatrixType H) const override
traits
Definition: chartTesting.h:28
const Rotation & measured() const
#define GTSAM_CONCEPT_LIE_TYPE(T)
Definition: Lie.h:373
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
Non-linear factor base classes.
std::shared_ptr< This > shared_ptr
const G double tol
Definition: Group.h:86
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:102
noiseModel::Base::shared_ptr SharedNoiseModel
Definition: NoiseModel.h:741
#define GTSAM_CONCEPT_GROUP_TYPE(T)
Definition: Group.h:216


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autogenerated on Tue Jul 4 2023 02:35:15