AttitudeFactor.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/geometry/Pose3.h>
#include <gtsam/geometry/Unit3.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
 
namespace gtsam {
 
class AttitudeFactor {
 protected:
  Unit3 nRef_, bMeasured_;  
 
 public:
  AttitudeFactor() {}
 
  AttitudeFactor(const Unit3& nRef, const Unit3& bMeasured = Unit3(0, 0, 1))
      : nRef_(nRef), bMeasured_(bMeasured) {}
 
  Vector attitudeError(const Rot3& p, OptionalJacobian<2, 3> H = {}) const;
 
  const Unit3& nRef() const { return nRef_; }
  const Unit3& bMeasured() const { return bMeasured_; }
 
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
  [[deprecated("Use nRef() instead")]]
  const Unit3& nZ() const { return nRef_; }
 
  [[deprecated("Use bMeasured() instead")]]
  const Unit3& bRef() const { return bMeasured_; }
#endif
 
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp("nRef_", nRef_);
    ar& boost::serialization::make_nvp("bMeasured_", bMeasured_);
  }
#endif
};
 
class GTSAM_EXPORT Rot3AttitudeFactor : public NoiseModelFactorN<Rot3>,
                                        public AttitudeFactor {
  typedef NoiseModelFactorN<Rot3> Base;
 
 public:
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;
 
  typedef std::shared_ptr<Rot3AttitudeFactor> shared_ptr;
 
  typedef Rot3AttitudeFactor This;
 
  Rot3AttitudeFactor() {}
 
  ~Rot3AttitudeFactor() override {}
 
  Rot3AttitudeFactor(Key key, const Unit3& nRef, const SharedNoiseModel& model,
                     const Unit3& bMeasured = Unit3(0, 0, 1))
      : Base(model, key), AttitudeFactor(nRef, bMeasured) {}
 
  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }
 
  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;
 
  bool equals(const NonlinearFactor& expected,
              double tol = 1e-9) const override;
 
  Vector evaluateError(const Rot3& nRb, OptionalMatrixType H) const override {
    return attitudeError(nRb, H);
  }
 
 private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
    ar& boost::serialization::make_nvp(
        "NoiseModelFactor1", boost::serialization::base_object<Base>(*this));
    ar& boost::serialization::make_nvp(
        "AttitudeFactor",
        boost::serialization::base_object<AttitudeFactor>(*this));
  }
#endif
 
 public:
  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
};
 
template <>
struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFactor> {};
 
class GTSAM_EXPORT Pose3AttitudeFactor : public NoiseModelFactorN<Pose3>,
                                         public AttitudeFactor {
  typedef NoiseModelFactorN<Pose3> Base;
 
 public:
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;
 
  typedef std::shared_ptr<Pose3AttitudeFactor> shared_ptr;
 
  typedef Pose3AttitudeFactor This;
 
  Pose3AttitudeFactor() {}
 
  ~Pose3AttitudeFactor() override {}
 
  Pose3AttitudeFactor(Key key, const Unit3& nRef, const SharedNoiseModel& model,
                      const Unit3& bMeasured = Unit3(0, 0, 1))
      : Base(model, key), AttitudeFactor(nRef, bMeasured) {}
 
  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }
 
  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;
 
  bool equals(const NonlinearFactor& expected,
              double tol = 1e-9) const override;
 
  Vector evaluateError(const Pose3& nTb, OptionalMatrixType H) const override {
    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;
  }
 
 private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
    ar& boost::serialization::make_nvp(
        "NoiseModelFactor1", boost::serialization::base_object<Base>(*this));
    ar& boost::serialization::make_nvp(
        "AttitudeFactor",
        boost::serialization::base_object<AttitudeFactor>(*this));
  }
#endif
 
 public:
  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
};
 
template <>
struct traits<Pose3AttitudeFactor> : public Testable<Pose3AttitudeFactor> {};
 
}  // namespace gtsam