factor1Pose2d.hpp

/* Copyright (c) 2022, Gonzalo Ferrer
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 *
 *  Created on: Jan 14, 2019
 *      Author: Konstantin Pakulev
 *              konstantin.pakulev@skoltech.ru
 *              Gonzalo Ferrer
 *              g.ferrer@skoltech.ru
 *              Mobile Robotics Lab, Skoltech
 */

#ifndef MROB_FACTOR1POSE2D_H
#define MROB_FACTOR1POSE2D_H

#include "mrob/matrix_base.hpp"
#include "mrob/factor.hpp"

using namespace mrob;


namespace mrob{
    class Factor1Pose2d : public Factor
    {
    public:
        Factor1Pose2d(const Mat31 &observation, std::shared_ptr<Node> &n1,
                const Mat3 &obsInf, Factor::robustFactorType robust_type = Factor::robustFactorType::QUADRATIC);
        ~Factor1Pose2d() override = default;

        void evaluate_residuals() override;
        void evaluate_jacobians() override;
        void evaluate_chi2() override;

        void print() const;

        MatRefConst get_obs() const {return obs_;};
        VectRefConst get_residual() const {return r_;};
        MatRefConst get_information_matrix() const {return W_;};
        MatRefConst get_jacobian([[maybe_unused]] mrob::factor_id_t id = 0) const {return J_;};

    protected:
        Mat31 obs_, r_; //and residuals
        Mat3 W_;//inverse of observation covariance (information matrix)
        Mat3 J_;//Jacobian
    };
}

#endif //MROB_FACTOR1POSE2D_H