12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

More efficient derivatives

release/4.3a0
dellaert 2015-07-30 09:48:00 -07:00
parent cefc441fba
commit 2ad50ab86e
1 changed files with 4 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
gtsam/navigation/NavState.cpp
View File

@ -253,24 +253,17 @@ NavState NavState::update(const Vector3& omega, const Vector3& acceleration,
NavState result = retract(xi, F, D_result_xi); NavState result = retract(xi, F, D_result_xi);
// Derivative wrt state is computed by retract directly // Derivative wrt state is computed by retract directly
// However, as xi also depends on n_v, we need to add that contribution // However, as dP(xi) also depends on state, we need to add that contribution
if (F) { if (F) {
Matrix9 D_xi_state; F->middleRows<3>(3) += dt * D_t_t(F) * D_xiP_state;
D_xi_state.setZero();
D_xi_state.middleRows<3>(3) = dt * D_xiP_state;
*F += D_result_xi * D_xi_state;
} }
// derivative wrt omega // derivative wrt omega
if (G1) { if (G1) {
Matrix93 D_xi_omega; *G1 = dt * D_result_xi.leftCols<3>();
D_xi_omega << dt * I_3x3, Z_3x3, Z_3x3;
*G1 = D_result_xi * D_xi_omega;
} }
// derivative wrt acceleration // derivative wrt acceleration
if (G2) { if (G2) {
Matrix93 D_xi_acceleration; *G2 = dt22 * D_result_xi.middleCols<3>(3) + dt * D_result_xi.rightCols<3>();
D_xi_acceleration << Z_3x3, dt22 * I_3x3, dt * I_3x3;
*G2 = D_result_xi * D_xi_acceleration;
} }
return result; return result;
} }