GPSFactor.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
18 #pragma once
19 
22 #include <gtsam/geometry/Pose3.h>
23 
24 namespace gtsam {
25 
35 class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3> {
36 
37 private:
38 
40 
42 
43 public:
44 
45  // Provide access to the Matrix& version of evaluateError:
46  using Base::evaluateError;
47 
49  typedef std::shared_ptr<GPSFactor> shared_ptr;
50 
52  typedef GPSFactor This;
53 
55  GPSFactor(): nT_(0, 0, 0) {}
56 
57  ~GPSFactor() override {}
58 
66  GPSFactor(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
67  Base(model, key), nT_(gpsIn) {
68  }
69 
72  return std::static_pointer_cast<gtsam::NonlinearFactor>(
74  }
75 
77  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
78  DefaultKeyFormatter) const override;
79 
81  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;
82 
84  Vector evaluateError(const Pose3& p, OptionalMatrixType H) const override;
85 
86  inline const Point3 & measurementIn() const {
87  return nT_;
88  }
89 
95  static std::pair<Pose3, Vector3> EstimateState(double t1, const Point3& NED1,
96  double t2, const Point3& NED2, double timestamp);
97 
98 private:
99 
100 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
101  friend class boost::serialization::access;
103  template<class ARCHIVE>
104  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
105  // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
106  ar
107  & boost::serialization::make_nvp("NoiseModelFactor1",
108  boost::serialization::base_object<Base>(*this));
109  ar & BOOST_SERIALIZATION_NVP(nT_);
110  }
111 #endif
112 };
113 
118 class GTSAM_EXPORT GPSFactor2: public NoiseModelFactorN<NavState> {
119 
120 private:
121 
123 
125 
126 public:
127 
128  // Provide access to the Matrix& version of evaluateError:
129  using Base::evaluateError;
130 
132  typedef std::shared_ptr<GPSFactor2> shared_ptr;
133 
135  typedef GPSFactor2 This;
136 
138  GPSFactor2():nT_(0, 0, 0) {}
139 
140  ~GPSFactor2() override {}
141 
143  GPSFactor2(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
144  Base(model, key), nT_(gpsIn) {
145  }
146 
149  return std::static_pointer_cast<gtsam::NonlinearFactor>(
151  }
152 
154  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
155  DefaultKeyFormatter) const override;
156 
158  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;
159 
161  Vector evaluateError(const NavState& p, OptionalMatrixType H) const override;
162 
163  inline const Point3 & measurementIn() const {
164  return nT_;
165  }
166 
167 private:
168 
169 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
170  friend class boost::serialization::access;
172  template<class ARCHIVE>
173  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
174  // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
175  ar
176  & boost::serialization::make_nvp("NoiseModelFactor1",
177  boost::serialization::base_object<Base>(*this));
178  ar & BOOST_SERIALIZATION_NVP(nT_);
179  }
180 #endif
181 };
182 
183 }
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Definition: gnuplot_common_settings.hh:74
gtsam::NonlinearFactor::shared_ptr
std::shared_ptr< This > shared_ptr
Definition: NonlinearFactor.h:78
gtsam::GPSFactor2::measurementIn
const Point3 & measurementIn() const
Definition: GPSFactor.h:163
gtsam::GPSFactor::This
GPSFactor This
Typedef to this class.
Definition: GPSFactor.h:52
gtsam::GPSFactor2::Base
NoiseModelFactorN< NavState > Base
Definition: GPSFactor.h:122
s
RealScalar s
Definition: level1_cplx_impl.h:126
e
Array< double, 1, 3 > e(1./3., 0.5, 2.)
gtsam::GPSFactor::shared_ptr
std::shared_ptr< GPSFactor > shared_ptr
shorthand for a smart pointer to a factor
Definition: GPSFactor.h:49
gtsam::GPSFactor2::nT_
Point3 nT_
Position measurement in cartesian coordinates.
Definition: GPSFactor.h:124
gtsam::GPSFactor::GPSFactor
GPSFactor(Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
Constructor from a measurement in a Cartesian frame. Use GeographicLib to convert from geographic (la...
Definition: GPSFactor.h:66
gtsam::NavState
Definition: NavState.h:34
gtsam::Vector
Eigen::VectorXd Vector
Definition: Vector.h:38
gtsam::DefaultKeyFormatter
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
Definition: Key.cpp:30
gtsam::GPSFactor2::GPSFactor2
GPSFactor2()
default constructor - only use for serialization
Definition: GPSFactor.h:138
gtsam::GPSFactor2::~GPSFactor2
~GPSFactor2() override
Definition: GPSFactor.h:140
gtsam::GPSFactor::clone
gtsam::NonlinearFactor::shared_ptr clone() const override
Definition: GPSFactor.h:71
gtsam::GPSFactor2::shared_ptr
std::shared_ptr< GPSFactor2 > shared_ptr
shorthand for a smart pointer to a factor
Definition: GPSFactor.h:132
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
gtsam::GPSFactor::nT_
Point3 nT_
Position measurement in cartesian coordinates.
Definition: GPSFactor.h:41
gtsam::KeyFormatter
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
gtsam::Pose3
Definition: Pose3.h:37
NavState.h
Navigation state composing of attitude, position, and velocity.
gtsam::NoiseModelFactorN
Definition: NonlinearFactor.h:431
cholesky::expected
Matrix expected
Definition: testMatrix.cpp:971
gtsam::SharedNoiseModel
noiseModel::Base::shared_ptr SharedNoiseModel
Definition: NoiseModel.h:762
gtsam::GPSFactor::Base
NoiseModelFactorN< Pose3 > Base
Definition: GPSFactor.h:39
model
noiseModel::Diagonal::shared_ptr model
Definition: doc/Code/Pose2SLAMExample.cpp:7
gtsam::equals
Definition: Testable.h:112
key
const gtsam::Symbol key('X', 0)
gtsam::GPSFactor::~GPSFactor
~GPSFactor() override
Definition: GPSFactor.h:57
NonlinearFactor.h
Non-linear factor base classes.
gtsam::GPSFactor2::clone
gtsam::NonlinearFactor::shared_ptr clone() const override
Definition: GPSFactor.h:148
gtsam
traits
Definition: SFMdata.h:40
gtsam::NonlinearFactor
Definition: NonlinearFactor.h:68
p
float * p
Definition: Tutorial_Map_using.cpp:9
gtsam::GPSFactor2::GPSFactor2
GPSFactor2(Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
Constructor from a measurement in a Cartesian frame.
Definition: GPSFactor.h:143
This
#define This
Definition: ActiveSetSolver-inl.h:27
gtsam::GPSFactor::GPSFactor
GPSFactor()
Definition: GPSFactor.h:55
gtsam::tol
const G double tol
Definition: Group.h:79
gtsam::Point3
Vector3 Point3
Definition: Point3.h:38
gtsam::GPSFactor2
Definition: GPSFactor.h:118
gtsam::OptionalMatrixType
Matrix * OptionalMatrixType
Definition: NonlinearFactor.h:55
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:97
gtsam::GPSFactor::measurementIn
const Point3 & measurementIn() const
Definition: GPSFactor.h:86
gtsam::GPSFactor
Definition: GPSFactor.h:35
Pose3.h
3D Pose
gtsam::GPSFactor2::This
GPSFactor2 This
Typedef to this class.
Definition: GPSFactor.h:135


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