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fixed issue that pos and vel are in nav frame

release/4.3a0
Timothy Setterfield 2020-09-01 07:45:50 -07:00
parent 02cc96de01
commit 0c62a9528d
1 changed files with 13 additions and 4 deletions
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17
gtsam/navigation/NavState.cpp
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@ -228,18 +228,27 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,
dP(xi) -= (0.5 * dt2) * omega_cross2_t; dP(xi) -= (0.5 * dt2) * omega_cross2_t;
dV(xi) -= dt * omega_cross2_t; dV(xi) -= dt * omega_cross2_t;
} }
// NOTE(tim): position and velocity changes dP and dV are in nav frame; need
// to put them into local frame for subsequent retract
dP(xi) = nRb.unrotate(dP(xi));
dV(xi) = nRb.unrotate(dV(xi));
if (H) { if (H) {
H->setZero(); H->setZero();
const Matrix3 Omega = skewSymmetric(omega); const Matrix3 Omega = skewSymmetric(omega);
const Matrix3 D_cross_state = Omega * R(); const Matrix3 D_cross_state = Omega * R();
H->setZero(); H->setZero();
D_R_R(H) << D_dP_R; D_R_R(H) << D_dP_R;
D_t_v(H) << (-dt2) * D_cross_state; D_t_v(H) << nRb.matrix().transpose() * (-dt2) * D_cross_state;
D_v_v(H) << (-2.0 * dt) * D_cross_state; D_t_R(H) << skewSymmetric(dP(xi));
D_v_v(H) << nRb.matrix().transpose() * (-2.0 * dt) * D_cross_state;
D_v_R(H) << skewSymmetric(dV(xi));
if (secondOrder) { if (secondOrder) {
const Matrix3 D_cross2_state = Omega * D_cross_state; const Matrix3 D_cross2_state = Omega * D_cross_state;
D_t_t(H) -= (0.5 * dt2) * D_cross2_state; D_t_t(H) -= nRb.matrix().transpose() * (0.5 * dt2) * D_cross2_state;
D_v_t(H) -= dt * D_cross2_state; D_v_t(H) -= nRb.matrix().transpose() * dt * D_cross2_state;
} }
} }
return xi; return xi;