add test for checking covariances between ImuFactor and CombinedImuFactor
Varun Agrawal
parent
61f2cf7fef
commit
28d0393abd
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@ -18,16 +18,16 @@
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* @author Stephen Williams
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*/
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#include <gtsam/navigation/ImuFactor.h>
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#include <gtsam/navigation/CombinedImuFactor.h>
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#include <gtsam/navigation/ImuBias.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/inference/Symbol.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/navigation/CombinedImuFactor.h>
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#include <gtsam/navigation/ImuBias.h>
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#include <gtsam/navigation/ImuFactor.h>
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#include <gtsam/navigation/ScenarioRunner.h>
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#include <gtsam/nonlinear/Values.h>
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#include <list>
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@ -44,207 +44,272 @@ static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
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}
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}
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/* ************************************************************************* */
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TEST( CombinedImuFactor, PreintegratedMeasurements ) {
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// Linearization point
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Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases
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// /* ************************************************************************* */
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// TEST(CombinedImuFactor, PreintegratedMeasurements ) {
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// // Linearization point
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// Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases
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// Measurements
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Vector3 measuredAcc(0.1, 0.0, 0.0);
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Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
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double deltaT = 0.5;
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double tol = 1e-6;
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// // Measurements
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// Vector3 measuredAcc(0.1, 0.0, 0.0);
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// Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
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// double deltaT = 0.5;
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// double tol = 1e-6;
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auto p = testing::Params();
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// auto p = testing::Params();
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// Actual preintegrated values
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PreintegratedImuMeasurements expected1(p, bias);
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expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// // Actual preintegrated values
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// PreintegratedImuMeasurements expected1(p, bias);
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// expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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PreintegratedCombinedMeasurements actual1(p, bias);
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// PreintegratedCombinedMeasurements actual1(p, bias);
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actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol));
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EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol));
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EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol));
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DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol);
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}
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// EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol));
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// EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol));
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// EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol));
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// DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol);
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// }
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/* ************************************************************************* */
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TEST( CombinedImuFactor, ErrorWithBiases ) {
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Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
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Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
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Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0));
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Vector3 v1(0.5, 0.0, 0.0);
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Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)),
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Point3(5.5, 1.0, -50.0));
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Vector3 v2(0.5, 0.0, 0.0);
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// /* ************************************************************************* */
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// TEST(CombinedImuFactor, Accelerating) {
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// const double a = 0.2, v = 50;
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auto p = testing::Params();
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p->omegaCoriolis = Vector3(0,0.1,0.1);
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PreintegratedImuMeasurements pim(
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p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
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// // Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X
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// // The body itself has Z axis pointing down
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// const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1));
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// const Point3 initial_position(10, 20, 0);
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// const Vector3 initial_velocity(v, 0, 0);
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// Measurements
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Vector3 measuredOmega;
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measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
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Vector3 measuredAcc =
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x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0);
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double deltaT = 1.0;
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double tol = 1e-6;
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// const AcceleratingScenario scenario(nRb, initial_position, initial_velocity,
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// Vector3(a, 0, 0));
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pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// const double T = 3.0; // seconds
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// CombinedScenarioRunner runner(scenario, testing::Params(), T / 10);
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PreintegratedCombinedMeasurements combined_pim(p,
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Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
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// PreintegratedCombinedMeasurements pim = runner.integrate(T);
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// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// auto estimatedCov = runner.estimateCovariance(T, 100);
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// Eigen::Matrix<double, 15, 15> expected = pim.preintMeasCov();
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// // EXPECT(assert_equal(estimatedCov, expected, 0.1));
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// }
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// Create factor
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ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim);
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// /* ************************************************************************* */
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// TEST(CombinedImuFactor, ErrorWithBiases ) {
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// Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
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// Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
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// Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0));
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// Vector3 v1(0.5, 0.0, 0.0);
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// Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)),
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// Point3(5.5, 1.0, -50.0));
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// Vector3 v2(0.5, 0.0, 0.0);
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noiseModel::Gaussian::shared_ptr Combinedmodel =
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noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
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CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
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combined_pim);
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// auto p = testing::Params();
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// p->omegaCoriolis = Vector3(0,0.1,0.1);
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// PreintegratedImuMeasurements pim(
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// p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
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Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
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Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
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bias2);
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EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
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// // Measurements
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// Vector3 measuredOmega;
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// measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
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// Vector3 measuredAcc =
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// x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0);
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// double deltaT = 1.0;
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// double tol = 1e-6;
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// Expected Jacobians
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Matrix H1e, H2e, H3e, H4e, H5e;
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(void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
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// pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// Actual Jacobians
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Matrix H1a, H2a, H3a, H4a, H5a, H6a;
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(void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a,
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H3a, H4a, H5a, H6a);
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// PreintegratedCombinedMeasurements combined_pim(p,
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// Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
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EXPECT(assert_equal(H1e, H1a.topRows(9)));
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EXPECT(assert_equal(H2e, H2a.topRows(9)));
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EXPECT(assert_equal(H3e, H3a.topRows(9)));
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EXPECT(assert_equal(H4e, H4a.topRows(9)));
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EXPECT(assert_equal(H5e, H5a.topRows(9)));
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}
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// combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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/* ************************************************************************* */
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#ifdef GTSAM_TANGENT_PREINTEGRATION
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TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
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auto p = testing::Params();
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testing::SomeMeasurements measurements;
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// // Create factor
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// ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim);
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auto preintegrated = [=](const Vector3& a, const Vector3& w) {
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PreintegratedImuMeasurements pim(p, Bias(a, w));
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testing::integrateMeasurements(measurements, &pim);
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return pim.preintegrated();
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};
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// noiseModel::Gaussian::shared_ptr Combinedmodel =
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// noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
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// CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
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// combined_pim);
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// Actual pre-integrated values
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PreintegratedCombinedMeasurements pim(p);
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testing::integrateMeasurements(measurements, &pim);
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// Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
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// Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
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// bias2);
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// EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
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EXPECT(assert_equal(numericalDerivative21<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
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pim.preintegrated_H_biasAcc()));
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EXPECT(assert_equal(numericalDerivative22<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
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pim.preintegrated_H_biasOmega(), 1e-3));
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}
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#endif
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// // Expected Jacobians
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// Matrix H1e, H2e, H3e, H4e, H5e;
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// (void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
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/* ************************************************************************* */
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TEST(CombinedImuFactor, PredictPositionAndVelocity) {
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const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot)
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// // Actual Jacobians
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// Matrix H1a, H2a, H3a, H4a, H5a, H6a;
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// (void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a,
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// H3a, H4a, H5a, H6a);
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auto p = testing::Params();
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// EXPECT(assert_equal(H1e, H1a.topRows(9)));
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// EXPECT(assert_equal(H2e, H2a.topRows(9)));
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// EXPECT(assert_equal(H3e, H3a.topRows(9)));
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// EXPECT(assert_equal(H4e, H4a.topRows(9)));
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// EXPECT(assert_equal(H5e, H5a.topRows(9)));
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// }
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// Measurements
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const Vector3 measuredOmega(0, 0.1, 0); // M_PI/10.0+0.3;
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const Vector3 measuredAcc(0, 1.1, -kGravity);
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const double deltaT = 0.01;
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// /* ************************************************************************* */
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// #ifdef GTSAM_TANGENT_PREINTEGRATION
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// TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
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// auto p = testing::Params();
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// testing::SomeMeasurements measurements;
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PreintegratedCombinedMeasurements pim(p, bias);
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// auto preintegrated = [=](const Vector3& a, const Vector3& w) {
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// PreintegratedImuMeasurements pim(p, Bias(a, w));
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// testing::integrateMeasurements(measurements, &pim);
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// return pim.preintegrated();
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// };
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for (int i = 0; i < 100; ++i)
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pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// // Actual pre-integrated values
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// PreintegratedCombinedMeasurements pim(p);
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// testing::integrateMeasurements(measurements, &pim);
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// Create factor
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const noiseModel::Gaussian::shared_ptr combinedmodel =
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noiseModel::Gaussian::Covariance(pim.preintMeasCov());
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const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
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// EXPECT(assert_equal(numericalDerivative21<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
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// pim.preintegrated_H_biasAcc()));
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// EXPECT(assert_equal(numericalDerivative22<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
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// pim.preintegrated_H_biasOmega(), 1e-3));
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// }
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// #endif
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// Predict
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const NavState actual = pim.predict(NavState(), bias);
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const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
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const Vector3 expectedVelocity(0, 1, 0);
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EXPECT(assert_equal(expectedPose, actual.pose()));
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EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity())));
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}
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// /* ************************************************************************* */
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// TEST(CombinedImuFactor, PredictPositionAndVelocity) {
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// const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot)
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/* ************************************************************************* */
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TEST(CombinedImuFactor, PredictRotation) {
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const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
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auto p = testing::Params();
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PreintegratedCombinedMeasurements pim(p, bias);
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const Vector3 measuredAcc = - kGravityAlongNavZDown;
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const Vector3 measuredOmega(0, 0, M_PI / 10.0);
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const double deltaT = 0.01;
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const double tol = 1e-4;
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for (int i = 0; i < 100; ++i)
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pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
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// auto p = testing::Params();
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// Predict
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const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
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const Vector3 v(0, 0, 0), v2;
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const NavState actual = pim.predict(NavState(x, v), bias);
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const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
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EXPECT(assert_equal(expectedPose, actual.pose(), tol));
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}
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// // Measurements
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// const Vector3 measuredOmega(0, 0.1, 0); // M_PI/10.0+0.3;
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// const Vector3 measuredAcc(0, 1.1, -kGravity);
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// const double deltaT = 0.01;
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/* ************************************************************************* */
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// Testing covariance to check if all the jacobians are accounted for.
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TEST(CombinedImuFactor, CheckCovariance) {
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auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
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// PreintegratedCombinedMeasurements pim(p, bias);
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// for (int i = 0; i < 100; ++i)
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// pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// // Create factor
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// const noiseModel::Gaussian::shared_ptr combinedmodel =
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// noiseModel::Gaussian::Covariance(pim.preintMeasCov());
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// const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
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// // Predict
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// const NavState actual = pim.predict(NavState(), bias);
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// const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
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// const Vector3 expectedVelocity(0, 1, 0);
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// EXPECT(assert_equal(expectedPose, actual.pose()));
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// EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity())));
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// }
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// /* ************************************************************************* */
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// TEST(CombinedImuFactor, PredictRotation) {
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// const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
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// auto p = testing::Params();
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// PreintegratedCombinedMeasurements pim(p, bias);
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// const Vector3 measuredAcc = - kGravityAlongNavZDown;
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// const Vector3 measuredOmega(0, 0, M_PI / 10.0);
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// const double deltaT = 0.01;
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// const double tol = 1e-4;
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// for (int i = 0; i < 100; ++i)
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// pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
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// // Predict
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// const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
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// const Vector3 v(0, 0, 0), v2;
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// const NavState actual = pim.predict(NavState(x, v), bias);
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// const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
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// EXPECT(assert_equal(expectedPose, actual.pose(), tol));
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// }
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// /* ************************************************************************* */
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// // Testing covariance to check if all the jacobians are accounted for.
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// TEST(CombinedImuFactor, CheckCovariance) {
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// auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
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// params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
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// params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
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// params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
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// params->setOmegaCoriolis(Vector3::Zero());
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// imuBias::ConstantBias currentBias;
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// PreintegratedCombinedMeasurements actual(params, currentBias);
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// // Measurements
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// Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
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// Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
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// double deltaT = 0.01;
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|
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// actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
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|
||||
// Eigen::Matrix<double, 15, 15> expected;
|
||||
// expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, //
|
||||
// 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
|
||||
|
||||
// // regression
|
||||
// EXPECT(assert_equal(expected, actual.preintMeasCov()));
|
||||
// }
|
||||
|
||||
TEST(CombinedImuFactor, SameCovarianceCombined) {
|
||||
auto params = PreintegrationCombinedParams::MakeSharedU();
|
||||
|
||||
params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
|
||||
params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
|
||||
params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
|
||||
params->setIntegrationCovariance(pow(0, 2) * I_3x3);
|
||||
params->setOmegaCoriolis(Vector3::Zero());
|
||||
|
||||
imuBias::ConstantBias currentBias;
|
||||
|
||||
PreintegratedCombinedMeasurements actual(params, currentBias);
|
||||
PreintegratedCombinedMeasurements pim(params, currentBias);
|
||||
|
||||
// Measurements
|
||||
Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
|
||||
Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
|
||||
Vector3 accMeas(0.1577, -0.8251, 9.6111);
|
||||
Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
|
||||
double deltaT = 0.01;
|
||||
pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
|
||||
|
||||
actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
||||
|
||||
Eigen::Matrix<double, 15, 15> expected;
|
||||
expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, //
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
|
||||
|
||||
// regression
|
||||
EXPECT(assert_equal(expected, actual.preintMeasCov()));
|
||||
std::cout << pim.preintMeasCov() << std::endl << std::endl;
|
||||
}
|
||||
|
||||
TEST(CombinedImuFactor, SameCovariance) {
|
||||
auto params = PreintegrationParams::MakeSharedU();
|
||||
|
||||
params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
|
||||
params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
|
||||
params->setIntegrationCovariance(pow(0, 2) * I_3x3);
|
||||
params->setOmegaCoriolis(Vector3::Zero());
|
||||
|
||||
imuBias::ConstantBias currentBias;
|
||||
|
||||
PreintegratedImuMeasurements pim(params, currentBias);
|
||||
|
||||
Vector3 accMeas(0.1577, -0.8251, 9.6111);
|
||||
Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
|
||||
double deltaT = 0.01;
|
||||
pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
|
||||
|
||||
std::cout << pim.preintMeasCov() << std::endl << std::endl;
|
||||
}
|
||||
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() {
|
||||
TestResult tr;
|
||||
|
|
|
|||
Loading…
Reference in New Issue