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Make 2D versions of the landmark variables (#250)
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fuse_variables/include/fuse_variables/point_2d_fixed_landmark.h
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| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2021, Locus Robotics | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
| #ifndef FUSE_VARIABLES_POINT_2D_FIXED_LANDMARK_H | ||
| #define FUSE_VARIABLES_POINT_2D_FIXED_LANDMARK_H | ||
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| #include <fuse_core/macros.h> | ||
| #include <fuse_core/serialization.h> | ||
| #include <fuse_variables/fixed_size_variable.h> | ||
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| #include <boost/serialization/access.hpp> | ||
| #include <boost/serialization/base_object.hpp> | ||
| #include <boost/serialization/export.hpp> | ||
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| #include <ostream> | ||
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| namespace fuse_variables | ||
| { | ||
| /** | ||
| * @brief Variable representing a 2D point landmark that exists across time. | ||
| * | ||
| * This is commonly used to represent locations of visual features. The UUID of this class is constant after | ||
| * construction and dependent on a user input database id. As such, the database id cannot be altered after | ||
| * construction. | ||
| */ | ||
| class Point2DFixedLandmark : public FixedSizeVariable<2> | ||
| { | ||
| public: | ||
| FUSE_VARIABLE_DEFINITIONS(Point2DFixedLandmark); | ||
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| /** | ||
| * @brief Can be used to directly index variables in the data array | ||
| */ | ||
| enum : size_t | ||
| { | ||
| X = 0, | ||
| Y = 1 | ||
| }; | ||
|
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| /** | ||
| * @brief Default constructor | ||
| */ | ||
| Point2DFixedLandmark() = default; | ||
|
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| /** | ||
| * @brief Construct a point 2D variable given a landmarks id | ||
| * | ||
| * @param[in] landmark_id The id associated to a landmark | ||
| */ | ||
| explicit Point2DFixedLandmark(const uint64_t& landmark_id); | ||
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| /** | ||
| * @brief Read-write access to the X-axis position. | ||
| */ | ||
| double& x() { return data_[X]; } | ||
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| /** | ||
| * @brief Read-only access to the X-axis position. | ||
| */ | ||
| const double& x() const { return data_[X]; } | ||
|
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| /** | ||
| * @brief Read-write access to the Y-axis position. | ||
| */ | ||
| double& y() { return data_[Y]; } | ||
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| /** | ||
| * @brief Read-only access to the Y-axis position. | ||
| */ | ||
| const double& y() const { return data_[Y]; } | ||
|
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| /** | ||
| * @brief Read-only access to the id | ||
| */ | ||
| const uint64_t& id() const { return id_; } | ||
|
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| /** | ||
| * @brief Print a human-readable description of the variable to the provided | ||
| * stream. | ||
| * | ||
| * @param[out] stream The stream to write to. Defaults to stdout. | ||
| */ | ||
| void print(std::ostream& stream = std::cout) const override; | ||
|
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| /** | ||
| * @brief Specifies if the value of the variable should not be changed during optimization | ||
| */ | ||
| bool holdConstant() const override; | ||
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| private: | ||
| // Allow Boost Serialization access to private methods | ||
| friend class boost::serialization::access; | ||
| uint64_t id_ { 0 }; | ||
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| /** | ||
| * @brief The Boost Serialize method that serializes all of the data members | ||
| * in to/out of the archive | ||
| * | ||
| * @param[in/out] archive - The archive object that holds the serialized class | ||
| * members | ||
| * @param[in] version - The version of the archive being read/written. | ||
| * Generally unused. | ||
| */ | ||
| template <class Archive> | ||
| void serialize(Archive& archive, const unsigned int /* version */) | ||
| { | ||
| archive& boost::serialization::base_object<FixedSizeVariable<SIZE>>(*this); | ||
| archive& id_; | ||
| } | ||
| }; | ||
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| } // namespace fuse_variables | ||
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| BOOST_CLASS_EXPORT_KEY(fuse_variables::Point2DFixedLandmark); | ||
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| #endif // FUSE_VARIABLES_POINT_2D_FIXED_LANDMARK_H |
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