Program Listing for File normal_prior_pose_3d_cost_functor.hpp

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#ifndef FUSE_CONSTRAINTS__NORMAL_PRIOR_POSE_3D_COST_FUNCTOR_HPP_
#define FUSE_CONSTRAINTS__NORMAL_PRIOR_POSE_3D_COST_FUNCTOR_HPP_

#include <Eigen/Core>

#include <fuse_constraints/normal_prior_orientation_3d_cost_functor.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/util.hpp>


namespace fuse_constraints
{

class NormalPriorPose3DCostFunctor
{
public:
  FUSE_MAKE_ALIGNED_OPERATOR_NEW()


  NormalPriorPose3DCostFunctor(const fuse_core::Matrix6d & A, const fuse_core::Vector7d & b);

  template<typename T>
  bool operator()(const T * const position, const T * const orientation, T * residual) const;

private:
  fuse_core::Matrix6d A_;
  fuse_core::Vector7d b_;

  NormalPriorOrientation3DCostFunctor orientation_functor_;
};

NormalPriorPose3DCostFunctor::NormalPriorPose3DCostFunctor(
  const fuse_core::Matrix6d & A,
  const fuse_core::Vector7d & b)
: A_(A),
  b_(b),
  orientation_functor_(fuse_core::Matrix3d::Identity(), b_.tail<4>())  // Delta will not be scaled
{
}

template<typename T>
bool NormalPriorPose3DCostFunctor::operator()(
  const T * const position, const T * const orientation,
  T * residual) const
{
  // Compute the position error
  residual[0] = position[0] - T(b_(0));
  residual[1] = position[1] - T(b_(1));
  residual[2] = position[2] - T(b_(2));

  // Use the 3D orientation cost functor to compute the orientation delta
  orientation_functor_(orientation, &residual[3]);

  // Scale the residuals by the square root information matrix to account for
  // the measurement uncertainty.
  Eigen::Map<Eigen::Matrix<T, 6, 1>> residual_map(residual);
  residual_map.applyOnTheLeft(A_.template cast<T>());

  return true;
}

}  // namespace fuse_constraints

#endif  // FUSE_CONSTRAINTS__NORMAL_PRIOR_POSE_3D_COST_FUNCTOR_HPP_