simulated3D.h

Go to the documentation of this file.

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

 * 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/base/Matrix.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include "gtsam/base/OptionalJacobian.h"

// \namespace

namespace gtsam {
namespace simulated3D {

Point3 prior(const Point3& x, OptionalJacobian<3,3> H = OptionalNone) {
  if (H) *H = I_3x3;
  return x;
}

Point3 odo(const Point3& x1, const Point3& x2,
    OptionalJacobian<3,3> H1 = OptionalNone,
    OptionalJacobian<3,3> H2 = OptionalNone) {
  if (H1) *H1 = -1 * I_3x3;
  if (H2) *H2 = I_3x3;
  return x2 - x1;
}

Point3 mea(const Point3& x, const Point3& l,
    OptionalJacobian<3,3> H1 = OptionalNone,
    OptionalJacobian<3,3> H2 = OptionalNone) {
  if (H1) *H1 = -1 * I_3x3;
  if (H2) *H2 = I_3x3;
  return l - x;
}

struct PointPrior3D: public NoiseModelFactor1<Point3> {
  using NoiseModelFactor1<Point3>::evaluateError;

  Point3 measured_; 

  PointPrior3D(const Point3& measured, const SharedNoiseModel& model, Key key) :
    NoiseModelFactorN<Point3> (model, key), measured_(measured) {
  }

  Vector evaluateError(const Point3& x, OptionalMatrixType H) const override {
    return simulated3D::prior(x, H) - measured_;
  }
};

struct Simulated3DMeasurement: public NoiseModelFactorN<Point3, Point3> {
  using NoiseModelFactor2<Point3, Point3>::evaluateError;

  Point3 measured_; 

  Simulated3DMeasurement(const Point3& measured, const SharedNoiseModel& model, Key i, Key j) :
        NoiseModelFactorN<Point3, Point3>(model, i, j), measured_(measured) {}

  Vector evaluateError(const Point3& x1, const Point3& x2,
      OptionalMatrixType H1, OptionalMatrixType H2) const override {
    return mea(x1, x2, H1, H2) - measured_;
  }
};

}} // namespace simulated3D