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Commit 89872fd4 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Delete factor_container.h not used anywhere

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2 merge requests!30Release after RAL,!29After 2nd RAL submission
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include/laser/factor/factor_container.h deleted 100644 → 0
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//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
#ifndef FACTOR_CONTAINER_H_
#define FACTOR_CONTAINER_H_
//Wolf includes
#include "core/common/wolf.h"
#include "core/factor/factor_autodiff.h"
#include "core/landmark/landmark_container.h"
namespace wolf {
WOLF_PTR_TYPEDEFS(FactorContainer);
class FactorContainer: public FactorAutodiff<FactorContainer,3,2,1,2,1>
{
protected:
LandmarkContainerWPtr lmk_ptr_;
unsigned int corner_;
public:
FactorContainer(const FeatureBasePtr& _ftr_ptr,
const LandmarkContainerPtr& _lmk_ptr,
const ProcessorBasePtr& _processor_ptr,
const unsigned int _corner,
bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE) :
FactorAutodiff<FactorContainer,3,2,1,2,1>("FactorContainer",
TOP_LMK,
nullptr,
nullptr,
nullptr,
_lmk_ptr,
_processor_ptr,
_apply_loss_function,
_status,
_ftr_ptr->getFrame()->getP(),
_ftr_ptr->getFrame()->getO(),
_lmk_ptr->getP(),
_lmk_ptr->getO()),
lmk_ptr_(_lmk_ptr),
corner_(_corner)
{
assert(/*_corner >= 0 &&*/ _corner <= 3 && "Wrong corner id in factor container constructor");
std::cout << "new factor container: corner idx = " << corner_ << std::endl;
}
virtual ~FactorContainer() = default;
LandmarkContainerPtr getLandmark()
{
return lmk_ptr_.lock();
}
template <typename T>
bool operator()(const T* const _robotP, const T* const _robotO, const T* const _landmarkP, const T* const _landmarkO, T* _residuals) const
{
// Mapping
Eigen::Map<const Eigen::Matrix<T,2,1>> landmark_position_map(_landmarkP);
Eigen::Map<const Eigen::Matrix<T,2,1>> robot_position_map(_robotP);
Eigen::Map<Eigen::Matrix<T,3,1>> residuals_map(_residuals);
//std::cout << "getSensorPosition: " << std::endl;
//std::cout << getCapture()->getSensor()->getSensorPosition()->head(2).transpose() << std::endl;
//std::cout << "getSensorRotation: " << std::endl;
//std::cout << getCapture()->getSensor()->getSensorRotation()->topLeftCorner<2,2>() << std::endl;
//std::cout << "atan2: " << atan2(getCapture()->getSensor()->getSensorRotation()->transpose()(0,1),getCapture()->getSensor()->getSensorRotation()->transpose()(0,0)) << std::endl;
// sensor transformation
Eigen::Matrix<T,2,1> sensor_position = getCapture()->getSensor()->getP()->getState().head(2).cast<T>();
Eigen::Matrix<T,2,2> inverse_R_sensor = Eigen::Rotation2D<T>(T(-getCapture()->getSensorO()->getState()(0))).matrix();
// robot information
Eigen::Matrix<T,2,2> inverse_R_robot = Eigen::Rotation2D<T>(-_robotO[0]).matrix();
Eigen::Matrix<T,2,2> R_landmark = Eigen::Rotation2D<T>(_landmarkO[0]).matrix();
Eigen::Matrix<T,2,1> corner_position = lmk_ptr_.lock()->getCorner(corner_).head<2>().cast<T>();
// Expected measurement
Eigen::Matrix<T,2,1> expected_measurement_position = inverse_R_sensor * (inverse_R_robot * (landmark_position_map - robot_position_map + R_landmark * corner_position) - sensor_position);
T expected_measurement_orientation = _landmarkO[0] - _robotO[0] - T(getCapture()->getSensor()->getO()->getState()(0)) + T(lmk_ptr_.lock()->getCorner(corner_)(2));
// Error
residuals_map.head(2) = expected_measurement_position - getMeasurement().head<2>().cast<T>();
residuals_map(2) = expected_measurement_orientation - T(getMeasurement()(2));
// pi 2 pi
while (_residuals[2] > T(M_PI))
_residuals[2] = _residuals[2] - T(2*M_PI);
while (_residuals[2] <= T(-M_PI))
_residuals[2] = _residuals[2] + T(2*M_PI);
// Residuals
residuals_map = getMeasurementSquareRootInformationUpper().cast<T>() * residuals_map;
//std::cout << "\nFACTOR: " << id() << std::endl;
//std::cout << "Feature: " << getFeature()->id() << std::endl;
//std::cout << "Landmark: " << lmk_ptr_->id() << std::endl;
//std::cout << "measurement:\n\t" << getMeasurement().transpose() << std::endl;
//
//std::cout << "robot pose:";
//for (int i=0; i < 2; i++)
// std::cout << "\n\t" << _robotP[i];
//std::cout << "\n\t" << _robotO[0];
//std::cout << std::endl;
//
//std::cout << "landmark pose:";
//for (int i=0; i < 2; i++)
// std::cout << "\n\t" << _landmarkP[i];
//std::cout << "\n\t" << _landmarkO[0];
//std::cout << std::endl;
//
//std::cout << "landmark pose (w.r.t sensor):";
//Eigen::Matrix<T,2,1> relative_landmark_position = inverse_R_sensor * (inverse_R_robot * (landmark_position - robot_position) - sensor_position);
//for (int i=0; i < 2; i++)
// std::cout << "\n\t" << relative_landmark_position.data()[i];
//std::cout << "\n\t" << _landmarkO[0] - _robotO[0] - T( *(getCapture()->getSensor()->getO()->get()) );
//std::cout << std::endl;
//
//std::cout << "expected_measurement: ";
//for (int i=0; i < 2; i++)
// std::cout << "\n\t" << expected_measurement_position.data()[i];
//std::cout << "\n\t" << expected_measurement_orientation << std::endl;
//
//std::cout << "_residuals: "<< std::endl;
//for (int i=0; i < 3; i++)
// std::cout << "\n\t" << _residuals[i] << " ";
//std::cout << std::endl;
return true;
}
};
} // namespace wolf
#endif
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