UnaryMeasurementAbsolute.h

Go to the documentation of this file.

/*
Copyright 2024 by Julian Nubert, Robotic Systems Lab, ETH Zurich.
All rights reserved.
This file is released under the "BSD-3-Clause License".
Please see the LICENSE file that has been included as part of this package.
 */
 
#ifndef HOLISTIC_FUSION_UNARY_MEASUREMENT_ABSOLUTE_H
#define HOLISTIC_FUSION_UNARY_MEASUREMENT_ABSOLUTE_H
 
// C++
#include <optional>
 
// Workspace
#include "holistic_fusion/measurements/UnaryMeasurement.h"
 
namespace holistic_fusion {

class UnaryMeasurementAbsolute : public virtual UnaryMeasurement {
 public:
  UnaryMeasurementAbsolute(const std::string& measurementName, const int measurementRate, const std::string& sensorFrameName,
                           const std::string& sensorFrameCorrectedName, const RobustNorm robustNorm, const double timeStamp,
                           const double covarianceViolationThreshold, const std::string& fixedFrameName, const std::string& worldFrameName,
                           const std::optional<Eigen::Matrix<double, 6, 1>>& initialSe3AlignmentNoise = std::nullopt,
                           const std::optional<Eigen::Matrix<double, 6, 1>>& se3AlignmentRandomWalk = std::nullopt)
      : UnaryMeasurement(measurementName, measurementRate, sensorFrameName, sensorFrameCorrectedName, robustNorm, timeStamp,
                         covarianceViolationThreshold),
        fixedFrameName_(fixedFrameName),
        worldFrameName_(worldFrameName) {
    // If initialSe3AlignmentNoise is not set, set it to zero
    if (initialSe3AlignmentNoise) {
      initialSe3AlignmentNoise_ = initialSe3AlignmentNoise.value();
    }
    // If not provided, then fixed frame has to be the world frame
    else {
      initialSe3AlignmentNoise_.setZero();
      // Check if fixed frame is world frame
      if (fixedFrameName_ != worldFrameName_) {
        throw std::runtime_error(
            "UnaryMeasurementAbsolute: If initialSe3AlignmentNoise is not provided, fixed frame has to be the world frame.");
      }
    }
 
    // If se3AlignmentRandomWalk is not set or zero, set it to zero
    if (se3AlignmentRandomWalk) {
      se3AlignmentRandomWalk_ = se3AlignmentRandomWalk.value();
      // If norm is not zero, set random walk flag
      if (se3AlignmentRandomWalk_.norm() > 1e-08) {
        modelAsRandomWalkFlag_ = true;
      }
    } else {
      se3AlignmentRandomWalk_.setZero();
      modelAsRandomWalkFlag_ = false;
    }
  }
 
  // Destructor
  ~UnaryMeasurementAbsolute() override = default;
 
  // Summary for printout
  [[nodiscard]] virtual std::string summary() const {
    std::stringstream ss;
    ss << std::endl;
    ss << UnaryMeasurement::summary() << std::endl;
    ss << "Fixed Frame: " << fixedFrameName_ << std::endl;
    return ss.str();
  }
 
  // Overload << operator
  friend std::ostream& operator<<(std::ostream& os, const UnaryMeasurementAbsolute& unaryMeasurementAbsolute) {
    os << unaryMeasurementAbsolute.summary();
    return os;
  }
 
  // Getters
  [[nodiscard]] const std::string& fixedFrameName() const { return fixedFrameName_; }
  [[nodiscard]] const std::string& worldFrameName() const { return worldFrameName_; }
  [[nodiscard]] const Eigen::Matrix<double, 6, 1>& initialSe3AlignmentNoise() const { return initialSe3AlignmentNoise_; }
  [[nodiscard]] const Eigen::Matrix<double, 6, 1>& se3AlignmentRandomWalk() const { return se3AlignmentRandomWalk_; }
  [[nodiscard]] bool modelAsRandomWalkFlag() const { return modelAsRandomWalkFlag_; }
 
 protected:
  // Standard members
  std::string fixedFrameName_;
  std::string worldFrameName_;
  Eigen::Matrix<double, 6, 1> initialSe3AlignmentNoise_;
  Eigen::Matrix<double, 6, 1> se3AlignmentRandomWalk_;
  bool modelAsRandomWalkFlag_ = false;
};
 
}  // namespace holistic_fusion
 
#endif  // HOLISTIC_FUSION_UNARY_MEASUREMENT_ABSOLUTE_H