combined_nav_state.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef LOCALIZATION_COMMON_COMBINED_NAV_STATE_H_
#define LOCALIZATION_COMMON_COMBINED_NAV_STATE_H_
 
#include <localization_common/time.h>
 
#include <gtsam/base/Vector.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/navigation/NavState.h>
 
namespace localization_common {
struct CombinedNavStateNoise {
  gtsam::SharedNoiseModel pose_noise;
  gtsam::SharedNoiseModel velocity_noise;
  gtsam::SharedNoiseModel bias_noise;
 
 private:
  // Serialization function
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int file_version) {
    ar& BOOST_SERIALIZATION_NVP(pose_noise);
    ar& BOOST_SERIALIZATION_NVP(velocity_noise);
    ar& BOOST_SERIALIZATION_NVP(bias_noise);
  }
};
 
class CombinedNavState {
 public:
  CombinedNavState(const gtsam::NavState& nav_state, const gtsam::imuBias::ConstantBias& bias, const Time timestamp);
  CombinedNavState(const gtsam::Pose3& pose, const gtsam::Velocity3& velocity, const gtsam::imuBias::ConstantBias& bias,
                   const Time timestamp);
  CombinedNavState() = default;
  Time timestamp() const { return timestamp_; }
  const gtsam::NavState& nav_state() const { return nav_state_; }
  gtsam::Pose3 pose() const { return nav_state().pose(); }
  const gtsam::Velocity3& velocity() const { return nav_state().velocity(); }
  const gtsam::imuBias::ConstantBias& bias() const { return bias_; }
 
 private:
  // Serialization function
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int file_version) {
    ar& BOOST_SERIALIZATION_NVP(nav_state_);
    ar& BOOST_SERIALIZATION_NVP(bias_);
    ar& BOOST_SERIALIZATION_NVP(timestamp_);
  }
 
  gtsam::NavState nav_state_;
  gtsam::imuBias::ConstantBias bias_;
  Time timestamp_;
};
 
}  // namespace localization_common
 
#endif  // LOCALIZATION_COMMON_COMBINED_NAV_STATE_H_