Program Listing for File normal_prior_orientation_3d_cost_functor.hpp

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#ifndef FUSE_CONSTRAINTS__NORMAL_PRIOR_ORIENTATION_3D_COST_FUNCTOR_HPP_
#define FUSE_CONSTRAINTS__NORMAL_PRIOR_ORIENTATION_3D_COST_FUNCTOR_HPP_

#include <ceres/rotation.h>
#include <Eigen/Core>

#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/util.hpp>
#include <fuse_variables/orientation_3d_stamped.hpp>


namespace fuse_constraints
{

class NormalPriorOrientation3DCostFunctor
{
public:
  FUSE_MAKE_ALIGNED_OPERATOR_NEW()


  NormalPriorOrientation3DCostFunctor(
    const fuse_core::Matrix3d & A,
    const fuse_core::Vector4d & b)
  : A_(A),
    b_(b)
  {
  }

  template<typename T>
  bool operator()(const T * const orientation, T * residuals) const
  {
    using fuse_variables::Orientation3DStamped;

    // Compute the delta quaternion
    T variable[4] =
    {
      orientation[0],
      orientation[1],
      orientation[2],
      orientation[3]
    };

    T observation_inverse[4] =
    {
      T(b_(0)),
      T(-b_(1)),
      T(-b_(2)),
      T(-b_(3))
    };

    T difference[4];
    ceres::QuaternionProduct(observation_inverse, variable, difference);
    ceres::QuaternionToAngleAxis(difference, residuals);

    // Scale the residuals by the square root information matrix to account for the measurement
    // uncertainty.
    Eigen::Map<Eigen::Matrix<T, 3, 1>> residuals_map(residuals);
    residuals_map.applyOnTheLeft(A_.template cast<T>());

    return true;
  }

private:
  fuse_core::Matrix3d A_;
  fuse_core::Vector4d b_;
};

}  // namespace fuse_constraints

#endif  // FUSE_CONSTRAINTS__NORMAL_PRIOR_ORIENTATION_3D_COST_FUNCTOR_HPP_