93 lines
3.1 KiB
C++
93 lines
3.1 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_IMU_INTEGRATION_H_
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#define CARTOGRAPHER_MAPPING_3D_IMU_INTEGRATION_H_
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#include <algorithm>
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#include <deque>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/imu_data.h"
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#include "cartographer/transform/transform.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping_3d {
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template <typename T>
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struct IntegrateImuResult {
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Eigen::Matrix<T, 3, 1> delta_velocity;
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Eigen::Quaternion<T> delta_rotation;
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};
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// Returns velocity delta in map frame.
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IntegrateImuResult<double> IntegrateImu(
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const std::deque<sensor::ImuData>& imu_data, const common::Time start_time,
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const common::Time end_time,
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std::deque<sensor::ImuData>::const_iterator* it);
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template <typename T>
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IntegrateImuResult<T> IntegrateImu(
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const std::deque<sensor::ImuData>& imu_data,
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const Eigen::Transform<T, 3, Eigen::Affine>&
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linear_acceleration_calibration,
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const Eigen::Transform<T, 3, Eigen::Affine>& angular_velocity_calibration,
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const common::Time start_time, const common::Time end_time,
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std::deque<sensor::ImuData>::const_iterator* it) {
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CHECK_LE(start_time, end_time);
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CHECK(*it != imu_data.cend());
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CHECK_LE((*it)->time, start_time);
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if ((*it) + 1 != imu_data.cend()) {
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CHECK_GT(((*it) + 1)->time, start_time);
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}
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common::Time current_time = start_time;
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IntegrateImuResult<T> result = {Eigen::Matrix<T, 3, 1>::Zero(),
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Eigen::Quaterniond::Identity().cast<T>()};
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while (current_time < end_time) {
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common::Time next_imu_data = common::Time::max();
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if ((*it) + 1 != imu_data.cend()) {
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next_imu_data = ((*it) + 1)->time;
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}
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common::Time next_time = std::min(next_imu_data, end_time);
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const T delta_t(common::ToSeconds(next_time - current_time));
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const Eigen::Matrix<T, 3, 1> delta_angle =
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(angular_velocity_calibration * (*it)->angular_velocity.cast<T>()) *
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delta_t;
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result.delta_rotation *=
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transform::AngleAxisVectorToRotationQuaternion(delta_angle);
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result.delta_velocity +=
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result.delta_rotation * ((linear_acceleration_calibration *
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(*it)->linear_acceleration.cast<T>()) *
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delta_t);
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current_time = next_time;
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if (current_time == next_imu_data) {
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++(*it);
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}
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}
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return result;
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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_IMU_INTEGRATION_H_
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