XYZFactor.h

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#pragma once
 
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Vector.h>
#include <gtsam/geometry/Pose3.h>
 
 
namespace rtabmap {
 
template<class VALUE>
class XYZFactor: public gtsam::NoiseModelFactor1<VALUE> {
 
private:
  // measurement information
  double mx_, my_, mz_;
 
public:
 
  XYZFactor(gtsam::Key poseKey, const gtsam::Point3 m, gtsam::SharedNoiseModel model) :
      gtsam::NoiseModelFactor1<VALUE>(model, poseKey), mx_(m.x()), my_(m.y()), mz_(m.z()) {}
 
  // error function
  // @param p    the pose in Pose
  // @param H    the optional Jacobian matrix, which use boost optional and has default null pointer
  gtsam::Vector evaluateError(const gtsam::Pose3& p,
#if GTSAM_VERSION_NUMERIC >= 40300
                  OptionalMatrixType H = OptionalNone) const {
#else
                  boost::optional<gtsam::Matrix&> H = boost::none) const {
#endif
    if(H)
    {
          p.translation(H);
    }
    return (gtsam::Vector3() << p.x() - mx_, p.y() - my_, p.z() - mz_).finished();
  }
  gtsam::Vector evaluateError(const gtsam::Point3& p,
#if GTSAM_VERSION_NUMERIC >= 40300
                  OptionalMatrixType H = OptionalNone) const {
#else
                  boost::optional<gtsam::Matrix&> H = boost::none) const {
#endif
    return (gtsam::Vector3() << p.x() - mx_, p.y() - my_, p.z() - mz_).finished();
  }
};
 
} // namespace gtsamexamples