AttitudeFactor.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Unit3.h>

namespace gtsam {

class AttitudeFactor {

protected:

  Unit3 nZ_, bRef_; 

public:

  AttitudeFactor() {
  }

  AttitudeFactor(const Unit3& nZ, const Unit3& bRef = Unit3(0, 0, 1)) :
      nZ_(nZ), bRef_(bRef) {
  }

  Vector attitudeError(const Rot3& p,
      OptionalJacobian<2,3> H = {}) const;

  const Unit3& nZ() const {
    return nZ_;
  }
  const Unit3& bRef() const {
    return bRef_;
  }

#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("nZ_",  nZ_);
    ar & boost::serialization::make_nvp("bRef_", bRef_);
  }
#endif
};

class GTSAM_EXPORT Rot3AttitudeFactor: public NoiseModelFactorN<Rot3>, public AttitudeFactor {

  typedef NoiseModelFactorN<Rot3> Base;

public:

  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<Rot3AttitudeFactor> shared_ptr;

  typedef Rot3AttitudeFactor This;

  Rot3AttitudeFactor() {
  }

  ~Rot3AttitudeFactor() override {
  }

  Rot3AttitudeFactor(Key key, const Unit3& nZ, const SharedNoiseModel& model,
      const Unit3& bRef = Unit3(0, 0, 1)) :
      Base(model, key), AttitudeFactor(nZ, bRef) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector evaluateError(const Rot3& nRb, OptionalMatrixType H) const override {
    return attitudeError(nRb, H);
  }

private:

#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
    ar & boost::serialization::make_nvp("NoiseModelFactor1",
        boost::serialization::base_object<Base>(*this));
    ar & boost::serialization::make_nvp("AttitudeFactor",
        boost::serialization::base_object<AttitudeFactor>(*this));
  }
#endif

public:
  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
};

template<> struct traits<Rot3AttitudeFactor> : public Testable<Rot3AttitudeFactor> {};

class GTSAM_EXPORT Pose3AttitudeFactor: public NoiseModelFactorN<Pose3>,
    public AttitudeFactor {

  typedef NoiseModelFactorN<Pose3> Base;

public:

  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  typedef std::shared_ptr<Pose3AttitudeFactor> shared_ptr;

  typedef Pose3AttitudeFactor This;

  Pose3AttitudeFactor() {
  }

  ~Pose3AttitudeFactor() override {
  }

  Pose3AttitudeFactor(Key key, const Unit3& nZ, const SharedNoiseModel& model,
      const Unit3& bRef = Unit3(0, 0, 1)) :
      Base(model, key), AttitudeFactor(nZ, bRef) {
  }

  gtsam::NonlinearFactor::shared_ptr clone() const override {
    return std::static_pointer_cast<gtsam::NonlinearFactor>(
        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
  }

  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
                                            DefaultKeyFormatter) const override;

  bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;

  Vector evaluateError(const Pose3& nTb, OptionalMatrixType H) const override {
    Vector e = attitudeError(nTb.rotation(), H);
    if (H) {
      Matrix H23 = *H;
      *H = Matrix::Zero(2,6);
      H->block<2,3>(0,0) = H23;
    }
    return e;
  }

private:

#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
    ar & boost::serialization::make_nvp("NoiseModelFactor1",
        boost::serialization::base_object<Base>(*this));
    ar & boost::serialization::make_nvp("AttitudeFactor",
        boost::serialization::base_object<AttitudeFactor>(*this));
  }
#endif

public:
  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
};

template<> struct traits<Pose3AttitudeFactor> : public Testable<Pose3AttitudeFactor> {};

}