XYZFactor.h

Go to the documentation of this file.

#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, boost::optional<gtsam::Matrix&> H = boost::none) const {
    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, boost::optional<gtsam::Matrix&> H = boost::none) const {
    return (gtsam::Vector3() << p.x() - mx_, p.y() - my_, p.z() - mz_).finished();
  }
};

} // namespace gtsamexamples