Program Listing for File unicycle_2d_state_kinematic_constraint.hpp
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#ifndef FUSE_MODELS__UNICYCLE_2D_STATE_KINEMATIC_CONSTRAINT_HPP_
#define FUSE_MODELS__UNICYCLE_2D_STATE_KINEMATIC_CONSTRAINT_HPP_
#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/acceleration_linear_2d_stamped.hpp>
#include <fuse_variables/orientation_2d_stamped.hpp>
#include <fuse_variables/position_2d_stamped.hpp>
#include <fuse_variables/velocity_angular_2d_stamped.hpp>
#include <fuse_variables/velocity_linear_2d_stamped.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
namespace fuse_models
{
class Unicycle2DStateKinematicConstraint : public fuse_core::Constraint
{
public:
FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(Unicycle2DStateKinematicConstraint)
Unicycle2DStateKinematicConstraint() = default;
Unicycle2DStateKinematicConstraint(
const std::string & source,
const fuse_variables::Position2DStamped & position1,
const fuse_variables::Orientation2DStamped & yaw1,
const fuse_variables::VelocityLinear2DStamped & linear_velocity1,
const fuse_variables::VelocityAngular2DStamped & yaw_velocity1,
const fuse_variables::AccelerationLinear2DStamped & linear_acceleration1,
const fuse_variables::Position2DStamped & position2,
const fuse_variables::Orientation2DStamped & yaw2,
const fuse_variables::VelocityLinear2DStamped & linear_velocity2,
const fuse_variables::VelocityAngular2DStamped & yaw_velocity2,
const fuse_variables::AccelerationLinear2DStamped & linear_acceleration2,
const fuse_core::Matrix8d & covariance);
virtual ~Unicycle2DStateKinematicConstraint() = default;
double dt() const {return dt_;}
const fuse_core::Matrix8d & sqrtInformation() const {return sqrt_information_;}
fuse_core::Matrix8d covariance() const
{
return (sqrt_information_.transpose() * sqrt_information_).inverse();
}
void print(std::ostream & stream = std::cout) const override;
ceres::CostFunction * costFunction() const override;
protected:
double dt_;
fuse_core::Matrix8d 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 & dt_;
archive & sqrt_information_;
}
};
} // namespace fuse_models
BOOST_CLASS_EXPORT_KEY(fuse_models::Unicycle2DStateKinematicConstraint);
#endif // FUSE_MODELS__UNICYCLE_2D_STATE_KINEMATIC_CONSTRAINT_HPP_