simulated2DOriented.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/geometry/Pose2.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include "gtsam/base/OptionalJacobian.h"

// \namespace
namespace simulated2DOriented {

  using namespace gtsam;

  class Values: public gtsam::Values {
    int nrPoses_, nrPoints_;
  public:
    Values() : nrPoses_(0), nrPoints_(0)  {}

    void insertPose(Key i, const Pose2& 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_;  } 

    Pose2 pose(Key i) const { return at<Pose2>(i);  } 
    Point2 point(Key j) const { return at<Point2>(j); } 
  };

  //TODO:: point prior is not implemented right now

  inline Pose2 prior(const Pose2& x) {
    return x;
  }

  Pose2 prior(const Pose2& x, OptionalJacobian<3,3> H = OptionalNone) {
    if (H) *H = I_3x3;
    return x;
  }

  inline Pose2 odo(const Pose2& x1, const Pose2& x2) {
    return x1.between(x2);
  }

  Pose2 odo(const Pose2& x1, const Pose2& x2, OptionalJacobian<3,3> H1 =
      OptionalNone, OptionalJacobian<3,3> H2 = OptionalNone) {
    return x1.between(x2, H1, H2);
  }

  template<class VALUE = Pose2>
  struct GenericPosePrior: public NoiseModelFactorN<VALUE> {

    Pose2 measured_; 

    GenericPosePrior(const Pose2& measured, const SharedNoiseModel& model, Key key) :
      NoiseModelFactorN<VALUE>(model, key), measured_(measured) {
    }

    Vector evaluateError(const Pose2& x, OptionalMatrixType H =
        OptionalNone) const {
      return measured_.localCoordinates(prior(x, H));
    }

  };

  template<class VALUE = Pose2>
  struct GenericOdometry: public NoiseModelFactorN<VALUE, VALUE> {
    Pose2 measured_;   

    typedef GenericOdometry<VALUE> This;

    // Provide access to the Matrix& version of evaluateError:
    using NoiseModelFactor2<VALUE, VALUE>::evaluateError;

    GenericOdometry(const Pose2& measured, const SharedNoiseModel& model,
        Key i1, Key i2) :
          NoiseModelFactorN<VALUE, VALUE>(model, i1, i2), measured_(measured) {
    }

    ~GenericOdometry() override {}

    Vector evaluateError(const VALUE& x1, const VALUE& x2,
        OptionalMatrixType H1, OptionalMatrixType H2) const override {
      return measured_.localCoordinates(odo(x1, x2, H1, H2));
    }

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

  };

  typedef GenericOdometry<Pose2> Odometry;

  class Graph : public NonlinearFactorGraph {
  public:
    Graph() {}
    // TODO: add functions to add factors
  };

} // namespace simulated2DOriented