factor1PosePoint2Plane.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.
 *
 * factor1PosePoint2Plane.hpp
 *
 *  Created on: Dec 24, 2020
 *      Author: Gonzalo Ferrer
 *              g.ferrer@skoltech.ru
 *              Mobile Robotics Lab.
 */

#ifndef FACTOR1POSEPOINT2PLANE_HPP_
#define FACTOR1POSEPOINT2PLANE_HPP_

#include "mrob/matrix_base.hpp"
#include "mrob/SE3.hpp" //requires including and linking SE3 library
#include "mrob/factor.hpp"

namespace mrob{

class Factor1PosePoint2Plane: public Factor
{
  public:
    Factor1PosePoint2Plane(const Mat31 &z_point_x, const Mat31 &z_point_y, const Mat31 &z_normal_y,
            std::shared_ptr<Node> &node,  const Mat1 &obsInf,
            Factor::robustFactorType robust_type = Factor::robustFactorType::QUADRATIC);
    ~Factor1PosePoint2Plane() override = default;
    virtual void evaluate_residuals() override;
    virtual void evaluate_jacobians() override;
    virtual void evaluate_chi2() override;

    virtual void print() const;

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

  protected:
    Mat31 z_point_x_, z_point_y_,  Tx_;
    Mat31 z_normal_y_;
    // the residual of the point projected to the plane:
    Mat1 r_;//residual, for convention, we will keep an eigen object for the scalar
    Mat1 W_;
    Mat<1,6> J_;
};

}

#endif /* FACTOR1POSEPoint2Plane_HPP_ */