PoseTranslationPrior.h

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#pragma once

#include <gtsam/geometry/concepts.h>
#include <gtsam/nonlinear/NonlinearFactor.h>

namespace gtsam {

template<class POSE>
class PoseTranslationPrior : public NoiseModelFactorN<POSE> {
public:
  typedef PoseTranslationPrior<POSE> This;
  typedef NoiseModelFactorN<POSE> Base;
  typedef POSE Pose;
  typedef typename POSE::Translation Translation;
  typedef typename POSE::Rotation Rotation;
  
  // Provide access to the Matrix& version of evaluateError:
  using Base::evaluateError;

  GTSAM_CONCEPT_POSE_TYPE(Pose)
  GTSAM_CONCEPT_GROUP_TYPE(Pose)
  GTSAM_CONCEPT_LIE_TYPE(Translation)

protected:

  Translation measured_;

public:

  PoseTranslationPrior() {}

  PoseTranslationPrior(Key key, const Translation& measured, const noiseModel::Base::shared_ptr& model)
  : Base(model, key), measured_(measured) {
  }

  PoseTranslationPrior(Key key, const POSE& pose_z, const noiseModel::Base::shared_ptr& model)
  : Base(model, key), measured_(pose_z.translation()) {
  }

  ~PoseTranslationPrior() override {}

  const Translation& measured() const { return measured_; }

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

  Vector evaluateError(const Pose& pose, OptionalMatrixType H) const override {
    const Translation& newTrans = pose.translation();
    const Rotation& R = pose.rotation();
    const int tDim = traits<Translation>::GetDimension(newTrans);
    const int xDim = traits<Pose>::GetDimension(pose);
    if (H) {
      *H = Matrix::Zero(tDim, xDim);
      std::pair<size_t, size_t> transInterval = POSE::translationInterval();
      (*H).middleCols(transInterval.first, tDim) = R.matrix();
    }

    return traits<Translation>::Local(measured_, newTrans);
  }

  bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
    const This *e = dynamic_cast<const This*> (&expected);
    return e != nullptr && Base::equals(*e, tol) && traits<Translation>::Equals(measured_, e->measured_, tol);
  }

  void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
    Base::print(s + "PoseTranslationPrior", keyFormatter);
    traits<Translation>::Print(measured_, "Measured Translation");
  }

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(measured_);
  }
#endif

};

} // \namespace gtsam