adding factor for point landmark to plane#82
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AhmedBaza1 wants to merge 2 commits into
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g-ferrer
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Jun 9, 2026
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| using namespace mrob; | ||
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| Factor1PosePoint2Plane4d::Factor1PosePoint2Plane4d(const Mat31 &z_point_x, const Mat41 &z_plane, |
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you should initialize with node ids, same as other factors
g-ferrer
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Jun 9, 2026
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| Factor1PosePoint2Plane4d::Factor1PosePoint2Plane4d(const Mat31 &z_point_x, const Mat41 &z_plane, | ||
| std::shared_ptr<Node> &node, const Mat1 &obsInf, Factor::robustFactorType robust_type): | ||
| Factor(1,6, robust_type), z_point_x_(z_point_x), z_plane_(z_plane), Tx_(Mat31::Zero()), r_(0.0), W_(obsInf) |
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dimension is incorrect, 6 is for poses, your is 3 (point) + 0 (EF plane)
g-ferrer
reviewed
Jun 9, 2026
| std::shared_ptr<Node> &node, const Mat1 &obsInf, Factor::robustFactorType robust_type): | ||
| Factor(1,6, robust_type), z_point_x_(z_point_x), z_plane_(z_plane), Tx_(Mat31::Zero()), r_(0.0), W_(obsInf) | ||
| { | ||
| matData_t normal_norm = z_plane_.head<3>().norm(); |
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the factor is for land mark to plane. I want to use get state from EF to get the planes from it to connect it this and that's how we can connect.