tiny_solver/
factors.rs

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use nalgebra as na;

pub trait Factor: Send + Sync {
    fn residual_func(
        &self,
        params: &[na::DVector<num_dual::DualDVec64>],
    ) -> na::DVector<num_dual::DualDVec64>;
}

#[derive(Debug, Clone)]
pub struct BetweenFactorSE2 {
    pub dx: f64,
    pub dy: f64,
    pub dtheta: f64,
}
impl Factor for BetweenFactorSE2 {
    fn residual_func(
        &self,
        params: &[na::DVector<num_dual::DualDVec64>],
    ) -> na::DVector<num_dual::DualDVec64> {
        let t_origin_k0 = &params[0];
        let t_origin_k1 = &params[1];
        let se2_origin_k0 = na::Isometry2::new(
            na::Vector2::new(t_origin_k0[1].clone(), t_origin_k0[2].clone()),
            t_origin_k0[0].clone(),
        );
        let se2_origin_k1 = na::Isometry2::new(
            na::Vector2::new(t_origin_k1[1].clone(), t_origin_k1[2].clone()),
            t_origin_k1[0].clone(),
        );
        let se2_k0_k1 = na::Isometry2::new(
            na::Vector2::<num_dual::DualDVec64>::new(
                num_dual::DualDVec64::from_re(self.dx),
                num_dual::DualDVec64::from_re(self.dy),
            ),
            num_dual::DualDVec64::from_re(self.dtheta),
        );

        let se2_diff = se2_origin_k1.inverse() * se2_origin_k0 * se2_k0_k1;
        na::dvector![
            se2_diff.translation.x.clone(),
            se2_diff.translation.y.clone(),
            se2_diff.rotation.angle()
        ]
    }
}

#[derive(Debug, Clone)]
pub struct PriorFactor {
    pub v: na::DVector<f64>,
}
impl Factor for PriorFactor {
    fn residual_func(
        &self,
        params: &[na::DVector<num_dual::DualDVec64>],
    ) -> na::DVector<num_dual::DualDVec64> {
        params[0].clone() - self.v.map(num_dual::DualDVec64::from_re)
    }
}