PriorFactor.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/base/Testable.h>

namespace gtsam {

  template<class VALUE>
  class PriorFactor: public NoiseModelFactor1<VALUE> {

  public:
    typedef VALUE T;

  private:

    typedef NoiseModelFactor1<VALUE> Base;

    VALUE prior_; 
    GTSAM_CONCEPT_TESTABLE_TYPE(T)

  public:

    typedef typename boost::shared_ptr<PriorFactor<VALUE> > shared_ptr;

    typedef PriorFactor<VALUE> This;

    PriorFactor() {}

    virtual ~PriorFactor() {}

    PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model) :
      Base(model, key), prior_(prior) {
    }

    virtual gtsam::NonlinearFactor::shared_ptr clone() const {
      return boost::static_pointer_cast<gtsam::NonlinearFactor>(
          gtsam::NonlinearFactor::shared_ptr(new This(*this))); }

    virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
      std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n";
      prior_.print("  prior mean: ");
      this->noiseModel_->print("  noise model: ");
    }

    virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
      const This* e = dynamic_cast<const This*> (&expected);
      return e != NULL && Base::equals(*e, tol) && this->prior_.equals(e->prior_, tol);
    }

    Vector evaluateError(const T& p, boost::optional<Matrix&> H = boost::none) const {
      if (H) (*H) = eye(p.dim());
      // manifold equivalent of h(x)-z -> log(z,h(x))
      return prior_.localCoordinates(p);
    }

    const VALUE & prior() const { return prior_; }

  private:

    friend class boost::serialization::access;
    template<class ARCHIVE>
    void serialize(ARCHIVE & ar, const unsigned int version) {
      ar & boost::serialization::make_nvp("NoiseModelFactor1",
          boost::serialization::base_object<Base>(*this));
      ar & BOOST_SERIALIZATION_NVP(prior_);
    }
  };

}