StateHelper.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_MSCKF_STATE_HELPER_H
#define OV_MSCKF_STATE_HELPER_H

#include <Eigen/Eigen>
#include <memory>

namespace ov_type {
class Type;
} // namespace ov_type

namespace ov_msckf {

class State;

class StateHelper {

public:
  static void EKFPropagation(std::shared_ptr<State> state, const std::vector<std::shared_ptr<ov_type::Type>> &order_NEW,
                             const std::vector<std::shared_ptr<ov_type::Type>> &order_OLD, const Eigen::MatrixXd &Phi,
                             const Eigen::MatrixXd &Q);

  static void EKFUpdate(std::shared_ptr<State> state, const std::vector<std::shared_ptr<ov_type::Type>> &H_order, const Eigen::MatrixXd &H,
                        const Eigen::VectorXd &res, const Eigen::MatrixXd &R);

  static void set_initial_covariance(std::shared_ptr<State> state, const Eigen::MatrixXd &covariance,
                                     const std::vector<std::shared_ptr<ov_type::Type>> &order);

  static Eigen::MatrixXd get_marginal_covariance(std::shared_ptr<State> state,
                                                 const std::vector<std::shared_ptr<ov_type::Type>> &small_variables);

  static Eigen::MatrixXd get_full_covariance(std::shared_ptr<State> state);

  static void marginalize(std::shared_ptr<State> state, std::shared_ptr<ov_type::Type> marg);

  static std::shared_ptr<ov_type::Type> clone(std::shared_ptr<State> state, std::shared_ptr<ov_type::Type> variable_to_clone);

  static bool initialize(std::shared_ptr<State> state, std::shared_ptr<ov_type::Type> new_variable,
                         const std::vector<std::shared_ptr<ov_type::Type>> &H_order, Eigen::MatrixXd &H_R, Eigen::MatrixXd &H_L,
                         Eigen::MatrixXd &R, Eigen::VectorXd &res, double chi_2_mult);

  static void initialize_invertible(std::shared_ptr<State> state, std::shared_ptr<ov_type::Type> new_variable,
                                    const std::vector<std::shared_ptr<ov_type::Type>> &H_order, const Eigen::MatrixXd &H_R,
                                    const Eigen::MatrixXd &H_L, const Eigen::MatrixXd &R, const Eigen::VectorXd &res);

  static void augment_clone(std::shared_ptr<State> state, Eigen::Matrix<double, 3, 1> last_w);

  static void marginalize_old_clone(std::shared_ptr<State> state);

  static void marginalize_slam(std::shared_ptr<State> state);

private:
  StateHelper() {}
};

} // namespace ov_msckf

#endif // OV_MSCKF_STATE_HELPER_H