88 lines
3.5 KiB
C++
88 lines
3.5 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
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#define CARTOGRAPHER_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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namespace cartographer {
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namespace mapping_3d {
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// Penalizes differences between IMU data and optimized accelerations.
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class AccelerationCostFunction {
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public:
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AccelerationCostFunction(const double scaling_factor,
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const Eigen::Vector3d& delta_velocity_imu_frame,
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const double first_delta_time_seconds,
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const double second_delta_time_seconds)
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: scaling_factor_(scaling_factor),
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delta_velocity_imu_frame_(delta_velocity_imu_frame),
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first_delta_time_seconds_(first_delta_time_seconds),
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second_delta_time_seconds_(second_delta_time_seconds) {}
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AccelerationCostFunction(const AccelerationCostFunction&) = delete;
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AccelerationCostFunction& operator=(const AccelerationCostFunction&) = delete;
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template <typename T>
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bool operator()(const T* const middle_rotation, const T* const start_position,
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const T* const middle_position, const T* const end_position,
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const T* const gravity_constant,
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const T* const imu_calibration, T* residual) const {
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const Eigen::Quaternion<T> eigen_imu_calibration(
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imu_calibration[0], imu_calibration[1], imu_calibration[2],
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imu_calibration[3]);
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const Eigen::Matrix<T, 3, 1> imu_delta_velocity =
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ToEigen(middle_rotation) * eigen_imu_calibration *
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delta_velocity_imu_frame_.cast<T>() -
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*gravity_constant *
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(0.5 * (first_delta_time_seconds_ + second_delta_time_seconds_) *
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Eigen::Vector3d::UnitZ())
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.cast<T>();
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const Eigen::Matrix<T, 3, 1> start_velocity =
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(Eigen::Map<const Eigen::Matrix<T, 3, 1>>(middle_position) -
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Eigen::Map<const Eigen::Matrix<T, 3, 1>>(start_position)) /
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T(first_delta_time_seconds_);
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const Eigen::Matrix<T, 3, 1> end_velocity =
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(Eigen::Map<const Eigen::Matrix<T, 3, 1>>(end_position) -
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Eigen::Map<const Eigen::Matrix<T, 3, 1>>(middle_position)) /
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T(second_delta_time_seconds_);
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const Eigen::Matrix<T, 3, 1> delta_velocity = end_velocity - start_velocity;
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(Eigen::Map<Eigen::Matrix<T, 3, 1>>(residual) =
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T(scaling_factor_) * (imu_delta_velocity - delta_velocity));
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return true;
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}
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private:
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template <typename T>
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static Eigen::Quaternion<T> ToEigen(const T* const quaternion) {
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return Eigen::Quaternion<T>(quaternion[0], quaternion[1], quaternion[2],
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quaternion[3]);
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}
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const double scaling_factor_;
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const Eigen::Vector3d delta_velocity_imu_frame_;
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const double first_delta_time_seconds_;
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const double second_delta_time_seconds_;
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};
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} // namespace mapping_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
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