pose_node_adder_params.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 NODE_ADDERS_POSE_NODE_ADDER_PARAMS_H_
#define NODE_ADDERS_POSE_NODE_ADDER_PARAMS_H_
 
#include <localization_common/time.h>
#include <localization_common/utilities.h>
#include <localization_measurements/pose_with_covariance_measurement.h>
#include <node_adders/timestamped_node_adder_params.h>
#include <node_adders/utilities.h>
 
#include <gtsam/geometry/Pose3.h>
 
#include <boost/serialization/serialization.hpp>
 
namespace node_adders {
struct PoseNodeAdderParams : public TimestampedNodeAdderParams<gtsam::Pose3> {
  void SetStartNoiseModels() {
    const gtsam::Vector6 pose_prior_noise_sigmas((gtsam::Vector(6) << starting_prior_translation_stddev,
                                                  starting_prior_translation_stddev, starting_prior_translation_stddev,
                                                  starting_prior_quaternion_stddev, starting_prior_quaternion_stddev,
                                                  starting_prior_quaternion_stddev)
                                                   .finished());
    const gtsam::SharedNoiseModel pose_noise_model = localization_common::Robust(
      gtsam::noiseModel::Diagonal::Sigmas(Eigen::Ref<const Eigen::VectorXd>(pose_prior_noise_sigmas)), huber_k);
    start_noise_models.emplace_back(pose_noise_model);
  }
 
  using Base = TimestampedNodeAdderParams<gtsam::Pose3>;
  double starting_prior_translation_stddev;
  double starting_prior_quaternion_stddev;
 
 private:
  // Serialization function
  friend class boost::serialization::access;
  template <class ARCHIVE>
  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
    ar& BOOST_SERIALIZATION_NVP(starting_prior_translation_stddev);
    ar& BOOST_SERIALIZATION_NVP(starting_prior_quaternion_stddev);
  }
};
}  // namespace node_adders
 
#endif  // NODE_ADDERS_POSE_NODE_ADDER_PARAMS_H_