unaryRollFactor.h

Go to the documentation of this file.

/*
Copyright 2022 by Julian Nubert, Timo Schoenegg, 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_ROLL_FACTOR_H
#define HOLISTIC_FUSION_ROLL_FACTOR_H
 
// C++
#include <cmath>
 
// GTSAM
#include <gtsam/base/OptionalJacobian.h>
#include <gtsam/base/Vector.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Key.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/nonlinear/NoiseModelFactorN.h>
 
namespace holistic_fusion {

class RollFactor : public gtsam::NoiseModelFactorN<gtsam::Pose3> {
 public:
  using Base = gtsam::NoiseModelFactorN<gtsam::Pose3>;
  // Bring the convenience overloads (without Jacobian, with Jacobian by reference) into scope
  using Base::evaluateError;

  RollFactor(gtsam::Key j, double roll, const gtsam::SharedNoiseModel& model) : Base(model, j), roll_(roll) {}
 
  // Destructor
  ~RollFactor() override = default;

  gtsam::Vector evaluateError(const gtsam::Pose3& robotPose, gtsam::OptionalMatrixType H_Ptr = OptionalNone) const override {
    // If close to singularity, do not add measurement
    if (std::abs(robotPose.rotation().roll()) >= M_PI / 2.0 - 0.1) {
      if (H_Ptr) {
        (*H_Ptr) = gtsam::Matrix::Zero(1, 6);
      }
      return gtsam::Vector1::Zero();
    }
 
    // Measurement function (with Jacobian w.r.t. the rotation only if requested)
    gtsam::Matrix13 H_rot;
    const double estimatedRoll = H_Ptr ? robotPose.rotation().roll(H_rot) : robotPose.rotation().roll();
 
    // Calculate error
    double rollError = estimatedRoll - roll_;
 
    // Smaller half circle
    while (rollError < -M_PI) rollError += 2 * M_PI;
    while (rollError > M_PI) rollError -= 2 * M_PI;
 
    // Jacobian: Pose3 tangent space is [rotation (3), translation (3)] --> [rad] [m]
    if (H_Ptr) {
      (*H_Ptr) = gtsam::Matrix::Zero(1, 6);
      H_Ptr->block<1, 3>(0, 0) = H_rot;
    }
 
    return gtsam::Vector1(rollError);
  }
 
 private:
  double roll_;  // roll measurement
};
 
}  // namespace holistic_fusion
 
#endif  // HOLISTIC_FUSION_ROLL_FACTOR_H