Program Listing for File magnetometer_error.hpp
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/*
* Copyright (C) 2020-2022 Michael Ferguson
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// Author: Michael Ferguson
#ifndef ROBOT_CALIBRATION_COST_FUNCTIONS_MAGNETOMETER_ERROR_HPP
#define ROBOT_CALIBRATION_COST_FUNCTIONS_MAGNETOMETER_ERROR_HPP
#include <ceres/ceres.h>
class HardIronOffsetError
{
public:
HardIronOffsetError(double x, double y, double z)
{
x_ = x;
y_ = y;
z_ = z;
}
template <typename T>
bool operator()(const T* const params, T* residuals) const
{
// Parameters are:
// 0 = local magnetic field strength
// 1 = x offset
// 2 = y offset
// 3 = z offset
residuals[0] = (x_ - params[1]) * (x_ - params[1]) +
(y_ - params[2]) * (y_ - params[2]) +
(z_ - params[3]) * (z_ - params[3]) -
(params[0] * params[0]);
return true;
}
static ceres::CostFunction* Create(double x, double y, double z)
{
ceres::CostFunction* func
= new ceres::AutoDiffCostFunction<HardIronOffsetError, 1, 4>(new HardIronOffsetError(x, y, z));
return func;
}
private:
// The actual sampled data
double x_, y_, z_;
};
#endif // ROBOT_CALIBRATION_COST_FUNCTIONS_MAGNETOMETER_ERROR_HPP