add ConstraintDiffDrive

src/CMakeLists.txt

@@ -436,6 +436,9 @@ ENDIF(OpenCV_FOUND)
 # Add the capture sub-directory
 ADD_SUBDIRECTORY(captures)
 
+# Add the constraints sub-directory
+ADD_SUBDIRECTORY(constraints)
+
 # Add the features sub-directory
 ADD_SUBDIRECTORY(features)
 
@@ -486,6 +489,7 @@ ADD_LIBRARY(${PROJECT_NAME}
             ${SRCS_BASE} 
             ${SRCS}
             ${SRCS_CAPTURE}
+            ${SRCS_CONSTRAINT}
             ${SRCS_FEATURE}
             ${SRCS_SENSOR}
             ${SRCS_PROCESSOR}
@@ -540,6 +544,8 @@ INSTALL(FILES ${HDRS}
 #    DESTINATION include/iri-algorithms/wolf/data_association)
 INSTALL(FILES ${HDRS_CAPTURE}
     DESTINATION include/iri-algorithms/wolf/captures)
+INSTALL(FILES ${HDRS_CONSTRAINT}
+    DESTINATION include/iri-algorithms/wolf/constraints)
 INSTALL(FILES ${HDRS_FEATURE}
     DESTINATION include/iri-algorithms/wolf/features)
 INSTALL(FILES ${HDRS_SENSOR}

src/constraints/CMakeLists.txt

+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
+
+# Forward var to parent scope
+
+SET(HDRS_CONSTRAINT ${HDRS_CONSTRAINT}
+                 ${CMAKE_CURRENT_SOURCE_DIR}/constraint_diff_drive.h PARENT_SCOPE)
+
+SET(SRCS_CONSTRAINT ${SRCS_CONSTRAINT} PARENT_SCOPE)

src/constraints/constraint_diff_drive.h

+/**
+ * \file constraint_diff_drive.h
+ *
+ *  Created on: Oct 27, 2017
+ *  \author: Jeremie Deray
+ */
+
+#ifndef WOLF_CONSTRAINT_DIFF_DRIVE_H_
+#define WOLF_CONSTRAINT_DIFF_DRIVE_H_
+
+//Wolf includes
+#include "../constraint_autodiff.h"
+#include "../frame_base.h"
+#include "../features/feature_diff_drive.h"
+#include "../captures/capture_wheel_joint_position.h"
+
+namespace
+{
+
+constexpr std::size_t RESIDUAL_SIZE                = 3;
+constexpr std::size_t POSITION_STATE_BLOCK_SIZE    = 2;
+constexpr std::size_t ORIENTATION_STATE_BLOCK_SIZE = 1;
+
+/// @todo This should be dynamic (2/3/5)
+constexpr std::size_t INTRINSICS_STATE_BLOCK_SIZE  = 3;
+
+}
+
+namespace wolf {
+
+class ConstraintDiffDrive :
+    public ConstraintAutodiff< ConstraintDiffDrive,
+      RESIDUAL_SIZE, POSITION_STATE_BLOCK_SIZE, ORIENTATION_STATE_BLOCK_SIZE,
+      INTRINSICS_STATE_BLOCK_SIZE >
+{
+  using Base = ConstraintAutodiff<ConstraintDiffDrive,
+  RESIDUAL_SIZE, POSITION_STATE_BLOCK_SIZE, ORIENTATION_STATE_BLOCK_SIZE,
+  INTRINSICS_STATE_BLOCK_SIZE>;
+
+public:
+
+  ConstraintDiffDrive(const FeatureDiffDrivePtr& _ftr_ptr,
+                      const CaptureWheelJointPositionPtr& _capture_origin_ptr,
+                      const ProcessorBasePtr& _processor_ptr = nullptr,
+                      const bool _apply_loss_function = false,
+                      const ConstraintStatus _status = CTR_ACTIVE) :
+    Base(CTR_DIFF_DRIVE, _capture_origin_ptr->getFramePtr(), _capture_origin_ptr,
+         nullptr, nullptr, _processor_ptr,
+         _apply_loss_function, _status,
+         _frame_ptr->getPPtr(), _frame_ptr->getOPtr(),
+         _capture_origin_ptr->getFramePtr()->getPPtr(),
+         _capture_origin_ptr->getFramePtr()->getOPtr(),
+         _capture_origin_ptr->getFramePtr()->getVPtr(),
+         _capture_origin_ptr->getSensorIntrinsicPtr(),
+         _ftr_ptr->getFramePtr()->getPPtr(),
+         _ftr_ptr->getFramePtr()->getOPtr(),
+         _ftr_ptr->getFramePtr()->getVPtr(),
+         _ftr_ptr->getCapturePtr()->getSensorIntrinsicPtr()),
+    J_delta_calib_(_ftr_ptr->getJacobianFactor())
+  {
+    setType("DIFF DRIVE");
+  }
+
+  /**
+   * \brief Default destructor (not recommended)
+   *
+   * Default destructor.
+   *
+   **/
+  virtual ~ConstraintDiffDrive() = default;
+
+  template<typename T>
+  bool operator ()(const T* const _p1, const T* const _o1, const T* const _c1,
+                   const T* const _p2, const T* const _o2, const T* const _c2,
+                   T* _residuals) const;
+
+  /**
+   * \brief Returns the jacobians computation method
+   **/
+  virtual JacobianMethod getJacobianMethod() const
+  {
+    return JAC_AUTO;
+  }
+
+protected:
+
+  Eigen::MatrixXs J_delta_calib_;
+};
+
+template<typename T>
+inline bool
+ConstraintDiffDrive::operator ()(const T* const _p1, const T* const _o1, const T* const _c1,
+                                 const T* const _p2, const T* const _o2, const T* const _c2,
+                                 T* _residuals) const
+{
+  // MAPS
+  Eigen::Map<Eigen::Matrix<T, RESIDUAL_SIZE, 1> > residuals_map(_residuals);
+
+  Eigen::Map<const Eigen::Matrix<T, POSITION_STATE_BLOCK_SIZE, 1> > p1_map(_p1);
+  Eigen::Map<const Eigen::Matrix<T, POSITION_STATE_BLOCK_SIZE, 1> > p2_map(_p2);
+
+  Eigen::Map<const Eigen::Matrix<T, INTRINSICS_STATE_BLOCK_SIZE, 1> > c1_map(_c1);
+  Eigen::Map<const Eigen::Matrix<T, INTRINSICS_STATE_BLOCK_SIZE, 1> > c2_map(_c2);
+
+  // Compute corrected delta
+
+  /// Is this my delta_preint ?
+  const Eigen::Matrix<T, 3, 1> measurement = getMeasurement().cast<T>();
+
+  Eigen::Matrix<T, 3, 1> delta_corrected = measurement + J_delta_calib_.cast<T>() * (c2_map - c1_map);
+
+  // First 2d pose residual
+
+  Eigen::Matrix<T, 3, 1> delta_predicted;
+
+  // position
+  delta_predicted.head(2) = Eigen::Rotation2D<T>(-_o1[0]) * (p2_map - p1_map);
+
+  // orientation
+  delta_predicted(2) = _o2[0] - _o1[0];
+
+  // residual
+  residuals_map = delta_corrected - delta_predicted;
+
+  // angle remapping
+  while (residuals_map(2) > T(M_PI))
+    residuals_map(2) = residuals_map(2) - T(2. * M_PI);
+  while (residuals_map(2) <= T(-M_PI))
+    residuals_map(2) = residuals_map(2) + T(2. * M_PI);
+
+  // weighted residual
+  residuals_map = getMeasurementSquareRootInformationTransposed().cast<T>() * residuals_map;
+
+  return true;
+}
+
+} // namespace wolf
+
+#endif /* WOLF_CONSTRAINT_DIFF_DRIVE_H_ */

src/wolf.h

@@ -226,7 +226,8 @@ typedef enum
     CTR_EPIPOLAR,               ///< Epipolar constraint
     CTR_AHP,                    ///< Anchored Homogeneous Point constraint
     CTR_AHP_NL,                 ///< Anchored Homogeneous Point constraint (temporal, to be removed)
-    CTR_IMU                     ///< IMU constraint
+    CTR_IMU,                    ///< IMU constraint
+    CTR_DIFF_DRIVE              ///< Diff-drive constraint
 
 } ConstraintType;