Program Listing for File relative_pose_3d_stamped_constraint.hpp
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#ifndef FUSE_CONSTRAINTS__RELATIVE_POSE_3D_STAMPED_CONSTRAINT_HPP_
#define FUSE_CONSTRAINTS__RELATIVE_POSE_3D_STAMPED_CONSTRAINT_HPP_
#include <Eigen/Dense>
#include <ostream>
#include <string>
#include <vector>
#include <fuse_core/constraint.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_variables/orientation_3d_stamped.hpp>
#include <fuse_variables/position_3d_stamped.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
namespace fuse_constraints
{
class RelativePose3DStampedConstraint : public fuse_core::Constraint
{
public:
FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(RelativePose3DStampedConstraint)
RelativePose3DStampedConstraint() = default;
RelativePose3DStampedConstraint(
const std::string & source,
const fuse_variables::Position3DStamped & position1,
const fuse_variables::Orientation3DStamped & orientation1,
const fuse_variables::Position3DStamped & position2,
const fuse_variables::Orientation3DStamped & orientation2,
const fuse_core::Vector7d & delta,
const fuse_core::Matrix6d & covariance);
virtual ~RelativePose3DStampedConstraint() = default;
const fuse_core::Vector7d & delta() const {return delta_;}
const fuse_core::Matrix6d & sqrtInformation() const {return sqrt_information_;}
fuse_core::Matrix6d covariance() const
{
return (sqrt_information_.transpose() * sqrt_information_).inverse();
}
void print(std::ostream & stream = std::cout) const override;
ceres::CostFunction * costFunction() const override;
protected:
fuse_core::Vector7d delta_;
fuse_core::Matrix6d sqrt_information_;
private:
// Allow Boost Serialization access to private methods
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & archive, const unsigned int /* version */)
{
archive & boost::serialization::base_object<fuse_core::Constraint>(*this);
archive & delta_;
archive & sqrt_information_;
}
};
} // namespace fuse_constraints
BOOST_CLASS_EXPORT_KEY(fuse_constraints::RelativePose3DStampedConstraint);
#endif // FUSE_CONSTRAINTS__RELATIVE_POSE_3D_STAMPED_CONSTRAINT_HPP_