PreintegrationBase.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/navigation/PreintegrationParams.h>
#include <gtsam/navigation/NavState.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/linear/NoiseModel.h>

#include <iosfwd>
#include <string>
#include <utility>

namespace gtsam {

class GTSAM_EXPORT PreintegrationBase {
 public:
  typedef imuBias::ConstantBias Bias;
  typedef PreintegrationParams Params;

 protected:
  std::shared_ptr<Params> p_;

  Bias biasHat_;

  double deltaTij_;

  PreintegrationBase() {}

  virtual ~PreintegrationBase() {}

 public:

  PreintegrationBase(const std::shared_ptr<Params>& p,
      const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());


  virtual void resetIntegration() = 0;

  void resetIntegrationAndSetBias(const Bias& biasHat);

  bool matchesParamsWith(const PreintegrationBase& other) const {
    return p_.get() == other.p_.get();
  }

  const std::shared_ptr<Params>& params() const {
    return p_;
  }

  Params& p() const {
    return *p_;
  }


  const imuBias::ConstantBias& biasHat() const { return biasHat_; }
  double deltaTij() const { return deltaTij_; }

  virtual Vector3  deltaPij() const = 0;
  virtual Vector3  deltaVij() const = 0;
  virtual Rot3     deltaRij() const = 0;
  virtual NavState deltaXij() const = 0;

  // Exposed for MATLAB
  Vector6 biasHatVector() const { return biasHat_.vector(); }

  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const PreintegrationBase& pim);
  virtual void print(const std::string& s="") const;


  std::pair<Vector3, Vector3> correctMeasurementsBySensorPose(
      const Vector3& unbiasedAcc, const Vector3& unbiasedOmega,
      OptionalJacobian<3, 3> correctedAcc_H_unbiasedAcc = {},
      OptionalJacobian<3, 3> correctedAcc_H_unbiasedOmega = {},
      OptionalJacobian<3, 3> correctedOmega_H_unbiasedOmega = {}) const;

  virtual void update(const Vector3& measuredAcc, const Vector3& measuredOmega,
      const double dt, Matrix9* A, Matrix93* B, Matrix93* C) = 0;

  virtual void integrateMeasurement(const Vector3& measuredAcc,
      const Vector3& measuredOmega, const double dt);

  virtual Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i,
      OptionalJacobian<9, 6> H = {}) const = 0;

  NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i,
                   OptionalJacobian<9, 9> H1 = {},
                   OptionalJacobian<9, 6> H2 = {}) const;

  Vector9 computeError(const NavState& state_i, const NavState& state_j,
                       const imuBias::ConstantBias& bias_i,
                       OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2,
                       OptionalJacobian<9, 6> H3) const;

  Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i,
      const Pose3& pose_j, const Vector3& vel_j,
      const imuBias::ConstantBias& bias_i, 
      OptionalJacobian<9, 6> H1 = {}, OptionalJacobian<9, 3> H2 = {},
      OptionalJacobian<9, 6> H3 = {}, OptionalJacobian<9, 3> H4 = {}, 
      OptionalJacobian<9, 6> H5 = {}) const;

 private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & BOOST_SERIALIZATION_NVP(p_);
    ar & BOOST_SERIALIZATION_NVP(biasHat_);
    ar & BOOST_SERIALIZATION_NVP(deltaTij_);
  }
#endif

 public:
  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
};

}