GravityFactor.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

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

#pragma once

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Unit3.h>

using namespace gtsam;

namespace rtabmap {

class GravityFactor {

protected:

  const Unit3 nZ_, bRef_; 

public:

  GravityFactor() {
  }

  GravityFactor(const Unit3& nZ, const Unit3& bRef = Unit3(0, 0, 1)) :
      nZ_(nZ), bRef_(bRef) {
  }

  Vector attitudeError(const Rot3& p,
      OptionalJacobian<2,3> H = boost::none) const;

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("nZ_", const_cast<Unit3&>(nZ_));
    ar & boost::serialization::make_nvp("bRef_", const_cast<Unit3&>(bRef_));
  }
};

class Rot3GravityFactor: public NoiseModelFactor1<Rot3>, public GravityFactor {

  typedef NoiseModelFactor1<Rot3> Base;

public:

  typedef boost::shared_ptr<Rot3GravityFactor> shared_ptr;

  typedef Rot3GravityFactor This;

  Rot3GravityFactor() {
  }

  virtual ~Rot3GravityFactor() {
  }

  Rot3GravityFactor(Key key, const Unit3& nZ, const SharedNoiseModel& model,
      const Unit3& bRef = Unit3(0, 0, 1)) :
      Base(model, key), GravityFactor(nZ, bRef) {
  }

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

  virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
      DefaultKeyFormatter) const;

  virtual bool equals(const NonlinearFactor& expected, double tol = 1e-9) const;

  virtual Vector evaluateError(const Rot3& nRb, //
      boost::optional<Matrix&> H = boost::none) const {
    return attitudeError(nRb, H);
  }
  Unit3 nZ() const {
    return nZ_;
  }
  Unit3 bRef() const {
    return bRef_;
  }

private:

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("NoiseModelFactor1",
        boost::serialization::base_object<Base>(*this));
    ar & boost::serialization::make_nvp("GravityFactor",
        boost::serialization::base_object<GravityFactor>(*this));
  }

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};


class Pose3GravityFactor: public NoiseModelFactor1<Pose3>,
    public GravityFactor {

  typedef NoiseModelFactor1<Pose3> Base;

public:

  typedef boost::shared_ptr<Pose3GravityFactor> shared_ptr;

  typedef Pose3GravityFactor This;

  Pose3GravityFactor() {
  }

  virtual ~Pose3GravityFactor() {
  }

  Pose3GravityFactor(Key key, const Unit3& nZ, const SharedNoiseModel& model,
      const Unit3& bRef = Unit3(0, 0, 1)) :
      Base(model, key), GravityFactor(nZ, bRef) {
  }

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

  virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
      DefaultKeyFormatter) const;

  virtual bool equals(const NonlinearFactor& expected, double tol = 1e-9) const;

  virtual Vector evaluateError(const Pose3& nTb, //
      boost::optional<Matrix&> H = boost::none) const {
    Vector e = attitudeError(nTb.rotation(), H);
    if (H) {
      Matrix H23 = *H;
      *H = Matrix::Zero(2,6);
      H->block<2,3>(0,0) = H23;
    }
    return e;
  }
  Unit3 nZ() const {
    return nZ_;
  }
  Unit3 bRef() const {
    return bRef_;
  }

private:

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("NoiseModelFactor1",
        boost::serialization::base_object<Base>(*this));
    ar & boost::serialization::make_nvp("GravityFactor",
        boost::serialization::base_object<GravityFactor>(*this));
  }

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}