Program Listing for File normal_prior_pose_2d_cost_functor.hpp
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#ifndef FUSE_CONSTRAINTS__NORMAL_PRIOR_POSE_2D_COST_FUNCTOR_HPP_
#define FUSE_CONSTRAINTS__NORMAL_PRIOR_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 NormalPriorPose2DCostFunctor
{
public:
NormalPriorPose2DCostFunctor(const fuse_core::MatrixXd & A, const fuse_core::Vector3d & b);
template<typename T>
bool operator()(const T * const position, const T * const orientation, T * residual) const;
private:
fuse_core::MatrixXd A_;
fuse_core::Vector3d b_;
};
NormalPriorPose2DCostFunctor::NormalPriorPose2DCostFunctor(
const fuse_core::MatrixXd & A,
const fuse_core::Vector3d & b)
: A_(A),
b_(b)
{
}
template<typename T>
bool NormalPriorPose2DCostFunctor::operator()(
const T * const position, const T * const orientation,
T * residual) const
{
Eigen::Matrix<T, 3, 1> full_residuals_vector;
full_residuals_vector(0) = position[0] - T(b_(0));
full_residuals_vector(1) = position[1] - T(b_(1));
full_residuals_vector(2) = fuse_core::wrapAngle2D(orientation[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_PRIOR_POSE_2D_COST_FUNCTOR_HPP_