Event.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/Point3.h>
#include <gtsam_unstable/dllexport.h>
 
#include <cmath>
#include <iosfwd>
#include <string>
 
namespace gtsam {
 
class GTSAM_UNSTABLE_EXPORT Event {
  double time_;      
  Point3 location_;  
 
 public:
  enum { dimension = 4 };
 
  Event() : time_(0), location_(0, 0, 0) {}
 
  Event(double t, const Point3& p) : time_(t), location_(p) {}
 
  Event(double t, double x, double y, double z)
      : time_(t), location_(x, y, z) {}
 
  double time() const { return time_; }
  Point3 location() const { return location_; }
 
  // TODO(frank) we really have to think of a better way to do linear arguments
  double height(OptionalJacobian<1, 4> H = {}) const {
    static const Matrix14 JacobianZ = (Matrix14() << 0, 0, 0, 1).finished();
    if (H) *H = JacobianZ;
    return location_.z();
  }
 
  void print(const std::string& s = "") const;
 
  bool equals(const Event& other,
                                    double tol = 1e-9) const;
 
  inline Event retract(const Vector4& v) const {
    return Event(time_ + v[0], location_ + Point3(v.tail<3>()));
  }
 
  inline Vector4 localCoordinates(const Event& q) const {
    return Vector4::Zero();  // TODO(frank) implement!
  }
};
 
// Define GTSAM traits
template <>
struct traits<Event> : internal::Manifold<Event> {};
 
class TimeOfArrival {
  const double speed_;  
 
 public:
  typedef double result_type;
 
  explicit TimeOfArrival(double speed = 330) : speed_(speed) {}
 
  double measure(const Event& event, const Point3& sensor) const {
    double distance = gtsam::distance3(event.location(), sensor);
    return event.time() + distance / speed_;
  }
 
  double operator()(const Event& event, const Point3& sensor,  //
                    OptionalJacobian<1, 4> H1 = {},   //
                    OptionalJacobian<1, 3> H2 = {}) const {
    Matrix13 D1, D2;
    double distance = gtsam::distance3(event.location(), sensor, D1, D2);
    if (H1)
      // derivative of toa with respect to event
      *H1 << 1.0, D1 / speed_;
    if (H2)
      // derivative of toa with respect to sensor location
      *H2 << D2 / speed_;
    return event.time() + distance / speed_;
  }
};
 
}  // namespace gtsam