JPLQuat.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef OV_TYPE_TYPE_JPLQUAT_H
#define OV_TYPE_TYPE_JPLQUAT_H
 
#include "Type.h"
#include "utils/quat_ops.h"
 
namespace ov_type {
 
class JPLQuat : public Type {
 
public:
  JPLQuat() : Type(3) {
    Eigen::Vector4d q0 = Eigen::Vector4d::Zero();
    q0(3) = 1.0;
    set_value_internal(q0);
    set_fej_internal(q0);
  }
 
  ~JPLQuat() {}
 
  void update(const Eigen::VectorXd &dx) override {
 
    assert(dx.rows() == _size);
 
    // Build perturbing quaternion
    Eigen::Matrix<double, 4, 1> dq;
    dq << .5 * dx, 1.0;
    dq = ov_core::quatnorm(dq);
 
    // Update estimate and recompute R
    set_value(ov_core::quat_multiply(dq, _value));
  }
 
  void set_value(const Eigen::MatrixXd &new_value) override { set_value_internal(new_value); }
 
  void set_fej(const Eigen::MatrixXd &new_value) override { set_fej_internal(new_value); }
 
  std::shared_ptr<Type> clone() override {
    auto Clone = std::shared_ptr<JPLQuat>(new JPLQuat());
    Clone->set_value(value());
    Clone->set_fej(fej());
    return Clone;
  }
 
  Eigen::Matrix<double, 3, 3> Rot() const { return _R; }
 
  Eigen::Matrix<double, 3, 3> Rot_fej() const { return _Rfej; }
 
protected:
  // Stores the rotation
  Eigen::Matrix<double, 3, 3> _R;
 
  // Stores the first-estimate rotation
  Eigen::Matrix<double, 3, 3> _Rfej;
 
  void set_value_internal(const Eigen::MatrixXd &new_value) {
 
    assert(new_value.rows() == 4);
    assert(new_value.cols() == 1);
 
    _value = new_value;
 
    // compute associated rotation
    _R = ov_core::quat_2_Rot(new_value);
  }
 
  void set_fej_internal(const Eigen::MatrixXd &new_value) {
 
    assert(new_value.rows() == 4);
    assert(new_value.cols() == 1);
 
    _fej = new_value;
 
    // compute associated rotation
    _Rfej = ov_core::quat_2_Rot(new_value);
  }
};
 
} // namespace ov_type
 
#endif // OV_TYPE_TYPE_JPLQUAT_H