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Commit 543f1146 authored by Pep Martí Saumell's avatar Pep Martí Saumell
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wip

parent 972f6864
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1 merge request!298WIP: Resolve "New factorRelativePose2DWithExtrinsics"
......@@ -8,25 +8,27 @@
//#include "ceres/jet.h"
namespace wolf {
WOLF_PTR_TYPEDEFS(FactorOdom2D);
//class
class FactorOdom2D : public FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1>
class FactorOdom2D : public FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1, 2, 1>
{
public:
FactorOdom2D(const FeatureBasePtr& _ftr_ptr,
const FrameBasePtr& _frame_other_ptr,
const ProcessorBasePtr& _processor_ptr = nullptr,
bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) :
FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1>("ODOM 2D",
FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1, 2, 1>("ODOM 2D",
_frame_other_ptr, nullptr, nullptr, nullptr,
_processor_ptr,
_apply_loss_function, _status,
_frame_other_ptr->getP(),
_frame_other_ptr->getO(),
_ftr_ptr->getFrame()->getP(),
_ftr_ptr->getFrame()->getO())
_ftr_ptr->getFrame()->getO(),
_ftr_ptr->getCapture()->getSensorP(),
_ftr_ptr->getCapture()->getSensorO())
{
//
}
......@@ -34,7 +36,7 @@ class FactorOdom2D : public FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1>
virtual ~FactorOdom2D() = default;
template<typename T>
bool operator ()(const T* const _p1, const T* const _o1, const T* const _p2, const T* const _o2,
bool operator ()(const T* const _p1, const T* const _o1, const T* const _p2, const T* const _o2, const T* const _sp, const T* const _so,
T* _residuals) const;
public:
......@@ -47,7 +49,7 @@ class FactorOdom2D : public FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1>
template<typename T>
inline bool FactorOdom2D::operator ()(const T* const _p1, const T* const _o1, const T* const _p2,
const T* const _o2, T* _residuals) const
const T* const _o2, const T* const _sp, const T* const _so, T* _residuals) const
{
// MAPS
......
......@@ -3,15 +3,13 @@
//Wolf includes
#include "core/feature/feature_base.h"
#include "core/factor/factor_odom_2D.h"
#include "core/factor/factor_odom_2D_analytic.h"
//std includes
namespace wolf {
WOLF_PTR_TYPEDEFS(FeatureOdom2D);
//class FeatureOdom2D
class FeatureOdom2D : public FeatureBase
{
......@@ -28,13 +26,13 @@ class FeatureOdom2D : public FeatureBase
virtual ~FeatureOdom2D();
/** \brief Generic interface to find factors
*
*
* TBD
* Generic interface to find factors between this feature and a map (static/slam) or a previous feature
*
**/
virtual void findFactors();
};
} // namespace wolf
......
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