Program Listing for File normal_delta_pose_2d_cost_functor.hpp

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#ifndef FUSE_CONSTRAINTS__NORMAL_DELTA_POSE_2D_COST_FUNCTOR_HPP_
#define FUSE_CONSTRAINTS__NORMAL_DELTA_POSE_2D_COST_FUNCTOR_HPP_

#include <Eigen/Core>

#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/util.hpp>


namespace fuse_constraints
{

class NormalDeltaPose2DCostFunctor
{
public:
  NormalDeltaPose2DCostFunctor(const fuse_core::MatrixXd & A, const fuse_core::Vector3d & b);

  template<typename T>
  bool operator()(
    const T * const position1,
    const T * const orientation1,
    const T * const position2,
    const T * const orientation2,
    T * residual) const;

private:
  fuse_core::MatrixXd A_;
  fuse_core::Vector3d b_;
};

NormalDeltaPose2DCostFunctor::NormalDeltaPose2DCostFunctor(
  const fuse_core::MatrixXd & A,
  const fuse_core::Vector3d & b)
: A_(A),
  b_(b)
{
}

template<typename T>
bool NormalDeltaPose2DCostFunctor::operator()(
  const T * const position1,
  const T * const orientation1,
  const T * const position2,
  const T * const orientation2,
  T * residual) const
{
  Eigen::Map<const Eigen::Matrix<T, 2, 1>> position1_vector(position1);
  Eigen::Map<const Eigen::Matrix<T, 2, 1>> position2_vector(position2);
  Eigen::Matrix<T, 3, 1> full_residuals_vector;

  full_residuals_vector.template head<2>() =
    fuse_core::rotationMatrix2D(orientation1[0]).transpose() *
    (position2_vector - position1_vector) -
    b_.head<2>().template cast<T>();
  full_residuals_vector(2) = fuse_core::wrapAngle2D(orientation2[0] - orientation1[0] - T(b_(2)));

  // Scale the residuals by the square root information matrix to account for
  // the measurement uncertainty.
  Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, 1>> residuals_vector(residual, A_.rows());
  residuals_vector = A_.template cast<T>() * full_residuals_vector;

  return true;
}

}  // namespace fuse_constraints

#endif  // FUSE_CONSTRAINTS__NORMAL_DELTA_POSE_2D_COST_FUNCTOR_HPP_