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Merge pull request #323 from borglab/fix/faster-pim-predict 

Optional jacobian computation in PreintegrationBase predict function
release/4.3a0
Frank Dellaert 2020-05-27 21:06:01 -04:00 committed by GitHub
parent 9ed8d8c31a 23742f30e6
commit 3422c3bb66
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 5 deletions
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11
gtsam/navigation/PreintegrationBase.cpp
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@ -115,20 +115,21 @@ void PreintegrationBase::integrateMeasurement(const Vector3& measuredAcc,
NavState PreintegrationBase::predict(const NavState& state_i,
const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 9> H1,
OptionalJacobian<9, 6> H2) const {
// TODO(frank): make sure this stuff is still correct
Matrix96 D_biasCorrected_bias;
Vector9 biasCorrected = biasCorrectedDelta(bias_i,
H2 ? &D_biasCorrected_bias : 0);
H2 ? &D_biasCorrected_bias : nullptr);
// Correct for initial velocity and gravity
Matrix9 D_delta_state, D_delta_biasCorrected;
Vector9 xi = state_i.correctPIM(biasCorrected, deltaTij_, p().n_gravity,
p().omegaCoriolis, p().use2ndOrderCoriolis, H1 ? &D_delta_state : 0,
H2 ? &D_delta_biasCorrected : 0);
p().omegaCoriolis, p().use2ndOrderCoriolis, H1 ? &D_delta_state : nullptr,
H2 ? &D_delta_biasCorrected : nullptr);
// Use retract to get back to NavState manifold
Matrix9 D_predict_state, D_predict_delta;
NavState state_j = state_i.retract(xi, D_predict_state, D_predict_delta);
NavState state_j = state_i.retract(xi,
H1 ? &D_predict_state : nullptr,
H2 || H2 ? &D_predict_delta : nullptr);
if (H1)
*H1 = D_predict_state + D_predict_delta * D_delta_state;
if (H2)