srba/models/observations_RangeBearing_3D.h

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/tfest.h>  // for use in landmark_matcher<>

namespace srba {
namespace observations {
    struct RangeBearing_3D
    {
        static const size_t  OBS_DIMS = 3; 
        
        struct obs_data_t
        {
            double range; 
            double yaw;   
            double pitch; 

            template <class ARRAY>
            inline void getAsArray(ARRAY &obs) const {
                obs[0] = range; obs[1] = yaw; obs[2] = pitch; 
            }
        };

        struct TObservationParams
        {
            // This type of observations has no further parameters.
        };
    };

    template <> struct landmark_matcher<RangeBearing_3D>
    {
        template <class POSE>
        static bool find_relative_pose(
            const mrpt::aligned_containers<RangeBearing_3D::obs_data_t>::vector_t & new_kf_obs,
            const mrpt::aligned_containers<RangeBearing_3D::obs_data_t>::vector_t & old_kf_obs,
            const RangeBearing_3D::TObservationParams &params,
            POSE &pose_new_kf_wrt_old_kf)
        {
            ASSERT_(new_kf_obs.size()==old_kf_obs.size())
            const size_t N=new_kf_obs.size();
            mrpt::utils::TMatchingPairList matches;
            matches.reserve(N);
            for (size_t i=0;i<N;i++)
                matches.push_back( mrpt::utils::TMatchingPair(i,i, 
                    old_kf_obs[i].range * cos(old_kf_obs[i].yaw) * cos(old_kf_obs[i].pitch), old_kf_obs[i].range * sin(old_kf_obs[i].yaw) * cos(old_kf_obs[i].pitch), -old_kf_obs[i].range * sin(old_kf_obs[i].pitch),
                    new_kf_obs[i].range * cos(new_kf_obs[i].yaw) * cos(new_kf_obs[i].pitch), new_kf_obs[i].range * sin(new_kf_obs[i].yaw) * cos(new_kf_obs[i].pitch), -new_kf_obs[i].range * sin(new_kf_obs[i].pitch) ));
            // Least-square optimal transformation:
            if (POSE::rotation_dimensions==2)
            { // SE(2)
                mrpt::math::TPose2D found_pose;
                if (!mrpt::tfest::se2_l2(matches,found_pose))
                    return false;
                pose_new_kf_wrt_old_kf = POSE( mrpt::poses::CPose2D(found_pose));
            }
            else
            {  // SE(3)
                mrpt::poses::CPose3DQuat found_pose;
                double found_scale;
                if (!mrpt::tfest::se3_l2(matches,found_pose,found_scale))
                    return false;
                pose_new_kf_wrt_old_kf = POSE(found_pose);
            }
            return true;
        }
    };
}
} // end NS