fast_lio2 released!

2023-04-06 16:28:55 +08:00 · 2021-07-04 10:17:41 -04:00
parent 6e1fa94351
commit 1087a72497
44 changed files with 7155 additions and 2973 deletions
--- a/include/IKFoM_toolkit/mtk/src/SubManifold.hpp
+++ b/include/IKFoM_toolkit/mtk/src/SubManifold.hpp
@@ -0,0 +1,123 @@
+// This is an advanced implementation of the algorithm described in the
+// following paper:
+//    C. Hertzberg,  R.  Wagner,  U.  Frese,  and  L.  Schroder.  Integratinggeneric   sensor   fusion   algorithms   with   sound   state   representationsthrough  encapsulation  of  manifolds.
+//    CoRR,  vol.  abs/1107.1119,  2011.[Online]. Available: http://arxiv.org/abs/1107.1119
+
+/*
+ *  Copyright (c) 2019--2023, The University of Hong Kong
+ *  All rights reserved.
+ *
+ *  Modifier: Dongjiao HE <hdj65822@connect.hku.hk>
+ *
+ *  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 Universitaet Bremen 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 OWNER 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.
+ */
+ 
+/*
+ *  Copyright (c) 2008--2011, Universitaet Bremen
+ *  All rights reserved.
+ *
+ *  Author: Christoph Hertzberg <chtz@informatik.uni-bremen.de>
+ *
+ *  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 Universitaet Bremen 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 OWNER 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.
+ */
+/**
+ * @file mtk/src/SubManifold.hpp
+ * @brief Defines the SubManifold class
+ */
+
+
+#ifndef SUBMANIFOLD_HPP_
+#define SUBMANIFOLD_HPP_
+
+
+#include "vectview.hpp"
+
+
+namespace MTK {
+
+/**
+ * @ingroup SubManifolds
+ * Helper class for compound manifolds. 
+ * This class wraps a manifold T and provides an enum IDX refering to the 
+ * index of the SubManifold within the compound manifold. 
+ *  
+ * Memberpointers to a submanifold can be used for @ref SubManifolds "functions accessing submanifolds".
+ * 
+ * @tparam T   The manifold type of the sub-type
+ * @tparam idx The index of the sub-type within the compound manifold
+ */
+template<class T, int idx, int dim>
+struct SubManifold : public T 
+{
+	enum {IDX = idx, DIM = dim /*!< index of the sub-type within the compound manifold */ };
+	//! manifold type
+	typedef T type;
+	
+	//! Construct from derived type
+	template<class X>
+	explicit
+	SubManifold(const X& t) : T(t) {};
+	
+	//! Construct from internal type
+	//explicit
+	SubManifold(const T& t) : T(t) {};
+	
+	//! inherit assignment operator
+	using T::operator=;
+	
+};
+
+}  // namespace MTK
+
+
+#endif /* SUBMANIFOLD_HPP_ */