GPSFactor.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/navigation/NavState.h>
#include <gtsam/geometry/Pose3.h>

namespace gtsam {

class GTSAM_EXPORT GPSFactor: public NoiseModelFactorN<Pose3> {

private:

  typedef NoiseModelFactorN<Pose3> Base;

  Point3 nT_; 

public:

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

  typedef std::shared_ptr<GPSFactor> shared_ptr;

  typedef GPSFactor This;

  GPSFactor(): nT_(0, 0, 0) {}

  ~GPSFactor() override {}

  GPSFactor(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
      Base(model, key), nT_(gpsIn) {
  }

  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& p, OptionalMatrixType H) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }

  static std::pair<Pose3, Vector3> EstimateState(double t1, const Point3& NED1,
      double t2, const Point3& NED2, double timestamp);

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_NVP(nT_);
  }
#endif
};

class GTSAM_EXPORT GPSFactor2: public NoiseModelFactorN<NavState> {

private:

  typedef NoiseModelFactorN<NavState> Base;

  Point3 nT_; 

public:

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

  typedef std::shared_ptr<GPSFactor2> shared_ptr;

  typedef GPSFactor2 This;

  GPSFactor2():nT_(0, 0, 0) {}

  ~GPSFactor2() override {}

  GPSFactor2(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
      Base(model, key), nT_(gpsIn) {
  }

  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 NavState& p, OptionalMatrixType H) const override;

  inline const Point3 & measurementIn() const {
    return nT_;
  }

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_NVP(nT_);
  }
#endif
};

}