No more LieVector
dellaert
parent
b5327673fb
commit
39ce31d0cc
106
.cproject
106
.cproject
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@ -600,6 +600,7 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -607,6 +608,7 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -654,6 +656,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -661,6 +664,7 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -668,6 +672,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -683,6 +688,7 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -736,14 +742,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testImuFactor.run" path="build/gtsam_unstable/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testImuFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testInvDepthFactor3.run" path="build/gtsam_unstable/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1114,6 +1112,7 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1343,6 +1342,46 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -1425,7 +1464,6 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1465,7 +1503,6 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1473,7 +1510,6 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1487,46 +1523,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testBTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSF.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFMap.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testDSFVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testFixedVector.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1784,6 +1780,7 @@
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</target>
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<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G DEB</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1791,6 +1788,7 @@
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</target>
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<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G RPM</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1798,6 +1796,7 @@
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</target>
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<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>-G TGZ</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1805,6 +1804,7 @@
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</target>
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<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>cpack</buildCommand>
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<buildArguments/>
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<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2579,6 +2579,7 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2586,6 +2587,7 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -2593,6 +2595,7 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -3112,7 +3115,6 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -268,7 +268,7 @@ public:
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VelDelta -= 2*skewSymmetric(world_rho + world_omega_earth)*world_V1_body * dt12;
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// Predict
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return Vel1.compose( VelDelta );
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return Vel1 + VelDelta;
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}
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@ -294,7 +294,7 @@ public:
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VELOCITY Vel2Pred = predictVelocity(Pose1, Vel1, Bias1);
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// Calculate error
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return Vel2.between(Vel2Pred);
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return Vel2Pred-Vel2;
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}
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Vector evaluateError(const POSE& Pose1, const VELOCITY& Vel1, const IMUBIAS& Bias1, const POSE& Pose2, const VELOCITY& Vel2,
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@ -343,7 +343,7 @@ public:
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}
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Vector ErrPoseVector(POSE::Logmap(evaluatePoseError(Pose1, Vel1, Bias1, Pose2, Vel2)));
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Vector ErrVelVector(VELOCITY::Logmap(evaluateVelocityError(Pose1, Vel1, Bias1, Pose2, Vel2)));
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Vector ErrVelVector(evaluateVelocityError(Pose1, Vel1, Bias1, Pose2, Vel2));
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return concatVectors(2, &ErrPoseVector, &ErrVelVector);
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}
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@ -199,7 +199,7 @@ public:
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VELOCITY VelDelta(world_a_body*dt_);
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// Predict
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return Vel1.compose(VelDelta);
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return Vel1 + VelDelta;
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}
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void predict(const POSE& Pose1, const VELOCITY& Vel1, const IMUBIAS& Bias1, POSE& Pose2, VELOCITY& Vel2) const {
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@ -220,7 +220,7 @@ public:
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VELOCITY Vel2Pred = predictVelocity(Pose1, Vel1, Bias1);
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// Calculate error
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return Vel2.between(Vel2Pred);
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return Vel2Pred - Vel2;
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}
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/** implement functions needed to derive from Factor */
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@ -270,7 +270,7 @@ public:
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}
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Vector ErrPoseVector(POSE::Logmap(evaluatePoseError(Pose1, Vel1, Bias1, Pose2, Vel2)));
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Vector ErrVelVector(VELOCITY::Logmap(evaluateVelocityError(Pose1, Vel1, Bias1, Pose2, Vel2)));
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Vector ErrVelVector(evaluateVelocityError(Pose1, Vel1, Bias1, Pose2, Vel2));
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return concatVectors(2, &ErrPoseVector, &ErrVelVector);
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}
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@ -54,7 +54,7 @@ TEST( EquivInertialNavFactor_GlobalVel, Constructor)
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SharedGaussian imu_model = noiseModel::Gaussian::Covariance(EquivCov_Overall.block(0,0,9,9));
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// Constructor
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EquivInertialNavFactor_GlobalVel<Pose3, LieVector, imuBias::ConstantBias> factor(
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EquivInertialNavFactor_GlobalVel<Pose3, Vector3, imuBias::ConstantBias> factor(
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poseKey1, velKey1, biasKey1, poseKey2, velKey2,
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delta_pos_in_t0, delta_vel_in_t0, delta_angles, delta_t,
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g, rho, omega_earth, imu_model, Jacobian_wrt_t0_Overall, bias1);
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@ -28,80 +28,71 @@
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using namespace std;
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using namespace gtsam;
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Rot3 world_R_ECEF(
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0.31686, 0.51505, 0.79645,
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0.85173, -0.52399, 0,
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0.41733, 0.67835, -0.60471);
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Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733,
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0.67835, -0.60471);
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Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
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Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
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static const Vector3 world_g(0.0, 0.0, 9.81);
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static const Vector3 world_rho(0.0, -1.5724e-05, 0.0); // NED system
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static const Vector3 ECEF_omega_earth(0.0, 0.0, 7.292115e-5);
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static const Vector3 world_omega_earth = world_R_ECEF.matrix()
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* ECEF_omega_earth;
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/* ************************************************************************* */
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Pose3 predictionErrorPose(const Pose3& p1, const LieVector& v1,
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const imuBias::ConstantBias& b1, const Pose3& p2, const LieVector& v2,
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const InertialNavFactor_GlobalVelocity<Pose3, LieVector,
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imuBias::ConstantBias>& factor) {
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Pose3 predictionErrorPose(const Pose3& p1, const Vector3& v1,
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const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2,
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const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
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return Pose3::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).head(6));
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}
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Vector predictionErrorVel(const Pose3& p1, const LieVector& v1,
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const imuBias::ConstantBias& b1, const Pose3& p2, const LieVector& v2,
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const InertialNavFactor_GlobalVelocity<Pose3, LieVector,
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imuBias::ConstantBias>& factor) {
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Vector predictionErrorVel(const Pose3& p1, const Vector3& v1,
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const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2,
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const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
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return factor.evaluateError(p1, v1, b1, p2, v2).tail(3);
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}
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/* ************************************************************************* */
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TEST( InertialNavFactor_GlobalVelocity, Constructor)
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{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, Constructor) {
|
||||
Key Pose1(11);
|
||||
Key Pose2(12);
|
||||
Key Vel1(21);
|
||||
Key Vel2(22);
|
||||
Key Bias1(31);
|
||||
|
||||
Vector measurement_acc((Vector(3) << 0.1,0.2,0.4));
|
||||
Vector measurement_gyro((Vector(3) << -0.2, 0.5, 0.03));
|
||||
Vector3 measurement_acc(0.1, 0.2, 0.4);
|
||||
Vector3 measurement_gyro(-0.2, 0.5, 0.03);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro,
|
||||
measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, Equals)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, Equals) {
|
||||
Key Pose1(11);
|
||||
Key Pose2(12);
|
||||
Key Vel1(21);
|
||||
Key Vel2(22);
|
||||
Key Bias1(31);
|
||||
|
||||
Vector measurement_acc((Vector(3) << 0.1,0.2,0.4));
|
||||
Vector measurement_gyro((Vector(3) << -0.2, 0.5, 0.03));
|
||||
Vector3 measurement_acc(0.1, 0.2, 0.4);
|
||||
Vector3 measurement_gyro(-0.2, 0.5, 0.03);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> g(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro,
|
||||
measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> g(
|
||||
Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro,
|
||||
measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
CHECK(assert_equal(f, g, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, Predict)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, Predict) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -109,36 +100,32 @@ TEST( InertialNavFactor_GlobalVelocity, Predict)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
|
||||
// First test: zero angular motion, some acceleration
|
||||
Vector measurement_acc((Vector(3) <<0.1,0.2,0.3-9.81));
|
||||
Vector measurement_acc((Vector(3) << 0.1, 0.2, 0.3 - 9.81));
|
||||
Vector measurement_gyro((Vector(3) << 0.0, 0.0, 0.0));
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model);
|
||||
|
||||
Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
|
||||
LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
Vector3 Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
imuBias::ConstantBias Bias1;
|
||||
Pose3 expectedPose2(Rot3(), Point3(2.05, 0.95, 3.04));
|
||||
LieVector expectedVel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
Vector3 expectedVel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
Pose3 actualPose2;
|
||||
LieVector actualVel2;
|
||||
Vector3 actualVel2;
|
||||
f.predict(Pose1, Vel1, Bias1, actualPose2, actualVel2);
|
||||
|
||||
CHECK(assert_equal(expectedPose2, actualPose2, 1e-5));
|
||||
CHECK(assert_equal(expectedVel2, actualVel2, 1e-5));
|
||||
CHECK(assert_equal((Vector)expectedVel2, actualVel2, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, ErrorPosVel)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, ErrorPosVel) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -146,24 +133,22 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorPosVel)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
|
||||
// First test: zero angular motion, some acceleration
|
||||
Vector measurement_acc((Vector(3) <<0.1,0.2,0.3-9.81));
|
||||
Vector measurement_acc((Vector(3) << 0.1, 0.2, 0.3 - 9.81));
|
||||
Vector measurement_gyro((Vector(3) << 0.0, 0.0, 0.0));
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model);
|
||||
|
||||
Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
|
||||
Pose3 Pose2(Rot3(), Point3(2.05, 0.95, 3.04));
|
||||
LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
LieVector Vel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
Vector3 Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
Vector3 Vel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
||||
|
|
@ -172,9 +157,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorPosVel)
|
|||
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, ErrorRot)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, ErrorRot) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -182,23 +165,23 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRot)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
// Second test: zero angular motion, some acceleration
|
||||
Vector measurement_acc((Vector(3) <<0.0,0.0,0.0-9.81));
|
||||
Vector measurement_acc((Vector(3) << 0.0, 0.0, 0.0 - 9.81));
|
||||
Vector measurement_gyro((Vector(3) << 0.1, 0.2, 0.3));
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model);
|
||||
|
||||
Pose3 Pose1(Rot3(), Point3(2.0,1.0,3.0));
|
||||
Pose3 Pose2(Rot3::Expmap(measurement_gyro*measurement_dt), Point3(2.0,1.0,3.0));
|
||||
LieVector Vel1((Vector(3) << 0.0, 0.0, 0.0));
|
||||
LieVector Vel2((Vector(3) << 0.0, 0.0, 0.0));
|
||||
Pose3 Pose1(Rot3(), Point3(2.0, 1.0, 3.0));
|
||||
Pose3 Pose2(Rot3::Expmap(measurement_gyro * measurement_dt),
|
||||
Point3(2.0, 1.0, 3.0));
|
||||
Vector3 Vel1((Vector(3) << 0.0, 0.0, 0.0));
|
||||
Vector3 Vel2((Vector(3) << 0.0, 0.0, 0.0));
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
||||
|
|
@ -207,9 +190,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRot)
|
|||
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -217,32 +198,30 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
// Second test: zero angular motion, some acceleration - generated in matlab
|
||||
Vector measurement_acc((Vector(3) << 6.501390843381716, -6.763926150509185, -2.300389940090343));
|
||||
Vector measurement_acc(
|
||||
(Vector(3) << 6.501390843381716, -6.763926150509185, -2.300389940090343));
|
||||
Vector measurement_gyro((Vector(3) << 0.1, 0.2, 0.3));
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model);
|
||||
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557,
|
||||
0.580273724, 0.693095498, -0.427669306,
|
||||
-0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0,1.0,3.0);
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557, 0.580273724, 0.693095498,
|
||||
-0.427669306, -0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0, 1.0, 3.0);
|
||||
Pose3 Pose1(R1, t1);
|
||||
LieVector Vel1((Vector(3) << 0.5, -0.5, 0.4));
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
|
||||
0.609241153, 0.67099888, -0.422594037,
|
||||
-0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
|
||||
Vector3 Vel1((Vector(3) << 0.5, -0.5, 0.4));
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019, 0.609241153, 0.67099888,
|
||||
-0.422594037, -0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2 = t1.compose(Point3(Vel1 * measurement_dt));
|
||||
Pose3 Pose2(R2, t2);
|
||||
Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
|
||||
LieVector Vel2 = Vel1.compose( dv );
|
||||
Vector3 Vel2 = Vel1 + dv;
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
||||
|
|
@ -252,16 +231,15 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
|
|||
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
||||
}
|
||||
|
||||
|
||||
///* VADIM - START ************************************************************************* */
|
||||
//LieVector predictionRq(const LieVector angles, const LieVector q) {
|
||||
//Vector3 predictionRq(const Vector3 angles, const Vector3 q) {
|
||||
// return (Rot3().RzRyRx(angles) * q).vector();
|
||||
//}
|
||||
//
|
||||
//TEST (InertialNavFactor_GlobalVelocity, Rotation_Deriv ) {
|
||||
// LieVector angles((Vector(3) << 3.001, -1.0004, 2.0005));
|
||||
// Vector3 angles((Vector(3) << 3.001, -1.0004, 2.0005));
|
||||
// Rot3 R1(Rot3().RzRyRx(angles));
|
||||
// LieVector q((Vector(3) << 5.8, -2.2, 4.105));
|
||||
// Vector3 q((Vector(3) << 5.8, -2.2, 4.105));
|
||||
// Rot3 qx(0.0, -q[2], q[1],
|
||||
// q[2], 0.0, -q[0],
|
||||
// -q[1], q[0],0.0);
|
||||
|
|
@ -269,9 +247,9 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
|
|||
//
|
||||
// Matrix J_expected;
|
||||
//
|
||||
// LieVector v(predictionRq(angles, q));
|
||||
// Vector3 v(predictionRq(angles, q));
|
||||
//
|
||||
// J_expected = numericalDerivative11<LieVector, LieVector>(boost::bind(&predictionRq, _1, q), angles);
|
||||
// J_expected = numericalDerivative11<Vector3, Vector3>(boost::bind(&predictionRq, _1, q), angles);
|
||||
//
|
||||
// cout<<"J_hyp"<<J_hyp<<endl;
|
||||
// cout<<"J_expected"<<J_expected<<endl;
|
||||
|
|
@ -280,8 +258,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
|
|||
//}
|
||||
///* VADIM - END ************************************************************************* */
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
|
||||
/* ************************************************************************* */TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
|
||||
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
|
|
@ -290,51 +267,63 @@ TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.01);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Vector measurement_acc((Vector(3) << 6.501390843381716, -6.763926150509185, -2.300389940090343));
|
||||
Vector measurement_gyro((Vector(3) << 3.14, 3.14/2, -3.14));
|
||||
Vector measurement_acc(
|
||||
(Vector(3) << 6.501390843381716, -6.763926150509185, -2.300389940090343));
|
||||
Vector measurement_gyro((Vector(3) << 3.14, 3.14 / 2, -3.14));
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> factor(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> factor(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model);
|
||||
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557,
|
||||
0.580273724, 0.693095498, -0.427669306,
|
||||
-0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0,1.0,3.0);
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557, 0.580273724, 0.693095498,
|
||||
-0.427669306, -0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0, 1.0, 3.0);
|
||||
Pose3 Pose1(R1, t1);
|
||||
LieVector Vel1((Vector(3) << 0.5, -0.5, 0.4));
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
|
||||
0.609241153, 0.67099888, -0.422594037,
|
||||
-0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2(2.052670960415706, 0.977252139079380, 2.942482135362800);
|
||||
Vector3 Vel1((Vector(3) << 0.5, -0.5, 0.4));
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019, 0.609241153, 0.67099888,
|
||||
-0.422594037, -0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2(2.052670960415706, 0.977252139079380, 2.942482135362800);
|
||||
Pose3 Pose2(R2, t2);
|
||||
LieVector Vel2((Vector(3) << 0.510000000000000, -0.480000000000000, 0.430000000000000));
|
||||
Vector3 Vel2(
|
||||
(Vector(3) << 0.510000000000000, -0.480000000000000, 0.430000000000000));
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Matrix H1_actual, H2_actual, H3_actual, H4_actual, H5_actual;
|
||||
|
||||
Vector ActualErr(factor.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2, H1_actual, H2_actual, H3_actual, H4_actual, H5_actual));
|
||||
Vector ActualErr(
|
||||
factor.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2, H1_actual,
|
||||
H2_actual, H3_actual, H4_actual, H5_actual));
|
||||
|
||||
// Checking for Pose part in the jacobians
|
||||
// ******
|
||||
Matrix H1_actualPose(H1_actual.block(0,0,6,H1_actual.cols()));
|
||||
Matrix H2_actualPose(H2_actual.block(0,0,6,H2_actual.cols()));
|
||||
Matrix H3_actualPose(H3_actual.block(0,0,6,H3_actual.cols()));
|
||||
Matrix H4_actualPose(H4_actual.block(0,0,6,H4_actual.cols()));
|
||||
Matrix H5_actualPose(H5_actual.block(0,0,6,H5_actual.cols()));
|
||||
Matrix H1_actualPose(H1_actual.block(0, 0, 6, H1_actual.cols()));
|
||||
Matrix H2_actualPose(H2_actual.block(0, 0, 6, H2_actual.cols()));
|
||||
Matrix H3_actualPose(H3_actual.block(0, 0, 6, H3_actual.cols()));
|
||||
Matrix H4_actualPose(H4_actual.block(0, 0, 6, H4_actual.cols()));
|
||||
Matrix H5_actualPose(H5_actual.block(0, 0, 6, H5_actual.cols()));
|
||||
|
||||
// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
|
||||
Matrix H1_expectedPose, H2_expectedPose, H3_expectedPose, H4_expectedPose, H5_expectedPose;
|
||||
H1_expectedPose = numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
|
||||
H2_expectedPose = numericalDerivative11<Pose3, Vector3>(boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
|
||||
H3_expectedPose = numericalDerivative11<Pose3, imuBias::ConstantBias>(boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
|
||||
H4_expectedPose = numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
|
||||
H5_expectedPose = numericalDerivative11<Pose3, Vector3>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
|
||||
Matrix H1_expectedPose, H2_expectedPose, H3_expectedPose, H4_expectedPose,
|
||||
H5_expectedPose;
|
||||
H1_expectedPose = numericalDerivative11<Pose3, Pose3>(
|
||||
boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor),
|
||||
Pose1);
|
||||
H2_expectedPose = numericalDerivative11<Pose3, Vector3>(
|
||||
boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor),
|
||||
Vel1);
|
||||
H3_expectedPose = numericalDerivative11<Pose3, imuBias::ConstantBias>(
|
||||
boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor),
|
||||
Bias1);
|
||||
H4_expectedPose = numericalDerivative11<Pose3, Pose3>(
|
||||
boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor),
|
||||
Pose2);
|
||||
H5_expectedPose = numericalDerivative11<Pose3, Vector3>(
|
||||
boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor),
|
||||
Vel2);
|
||||
|
||||
// Verify they are equal for this choice of state
|
||||
CHECK( assert_equal(H1_expectedPose, H1_actualPose, 1e-5));
|
||||
|
|
@ -345,19 +334,30 @@ TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
|
|||
|
||||
// Checking for Vel part in the jacobians
|
||||
// ******
|
||||
Matrix H1_actualVel(H1_actual.block(6,0,3,H1_actual.cols()));
|
||||
Matrix H2_actualVel(H2_actual.block(6,0,3,H2_actual.cols()));
|
||||
Matrix H3_actualVel(H3_actual.block(6,0,3,H3_actual.cols()));
|
||||
Matrix H4_actualVel(H4_actual.block(6,0,3,H4_actual.cols()));
|
||||
Matrix H5_actualVel(H5_actual.block(6,0,3,H5_actual.cols()));
|
||||
Matrix H1_actualVel(H1_actual.block(6, 0, 3, H1_actual.cols()));
|
||||
Matrix H2_actualVel(H2_actual.block(6, 0, 3, H2_actual.cols()));
|
||||
Matrix H3_actualVel(H3_actual.block(6, 0, 3, H3_actual.cols()));
|
||||
Matrix H4_actualVel(H4_actual.block(6, 0, 3, H4_actual.cols()));
|
||||
Matrix H5_actualVel(H5_actual.block(6, 0, 3, H5_actual.cols()));
|
||||
|
||||
// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
|
||||
Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel, H5_expectedVel;
|
||||
H1_expectedVel = numericalDerivative11<Vector, Pose3>(boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
|
||||
H2_expectedVel = numericalDerivative11<Vector, Vector3>(boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
|
||||
H3_expectedVel = numericalDerivative11<Vector, imuBias::ConstantBias>(boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
|
||||
H4_expectedVel = numericalDerivative11<Vector, Pose3>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
|
||||
H5_expectedVel = numericalDerivative11<Vector, Vector3>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
|
||||
Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel,
|
||||
H5_expectedVel;
|
||||
H1_expectedVel = numericalDerivative11<Vector, Pose3>(
|
||||
boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor),
|
||||
Pose1);
|
||||
H2_expectedVel = numericalDerivative11<Vector, Vector3>(
|
||||
boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor),
|
||||
Vel1);
|
||||
H3_expectedVel = numericalDerivative11<Vector, imuBias::ConstantBias>(
|
||||
boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor),
|
||||
Bias1);
|
||||
H4_expectedVel = numericalDerivative11<Vector, Pose3>(
|
||||
boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor),
|
||||
Pose2);
|
||||
H5_expectedVel = numericalDerivative11<Vector, Vector3>(
|
||||
boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor),
|
||||
Vel2);
|
||||
|
||||
// Verify they are equal for this choice of state
|
||||
CHECK( assert_equal(H1_expectedVel, H1_actualVel, 1e-5));
|
||||
|
|
@ -367,12 +367,7 @@ TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
|
|||
CHECK( assert_equal(H5_expectedVel, H5_actualVel, 1e-5));
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, ConstructorWithTransform)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, ConstructorWithTransform) {
|
||||
Key Pose1(11);
|
||||
Key Pose2(12);
|
||||
Key Vel1(21);
|
||||
|
|
@ -383,22 +378,18 @@ TEST( InertialNavFactor_GlobalVelocity, ConstructorWithTransform)
|
|||
Vector measurement_gyro((Vector(3) << -0.2, 0.5, 0.03));
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(0.0, 0.0, 0.0)); // IMU is in ENU orientation
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(0.0, 0.0, 0.0)); // IMU is in ENU orientation
|
||||
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro,
|
||||
measurement_dt, world_g, world_rho, world_omega_earth, model,
|
||||
body_P_sensor);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, EqualsWithTransform)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, EqualsWithTransform) {
|
||||
Key Pose1(11);
|
||||
Key Pose2(12);
|
||||
Key Vel1(21);
|
||||
|
|
@ -409,24 +400,23 @@ TEST( InertialNavFactor_GlobalVelocity, EqualsWithTransform)
|
|||
Vector measurement_gyro((Vector(3) << -0.2, 0.5, 0.03));
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(0.0, 0.0, 0.0)); // IMU is in ENU orientation
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(0.0, 0.0, 0.0)); // IMU is in ENU orientation
|
||||
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> g(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro,
|
||||
measurement_dt, world_g, world_rho, world_omega_earth, model,
|
||||
body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> g(
|
||||
Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro,
|
||||
measurement_dt, world_g, world_rho, world_omega_earth, model,
|
||||
body_P_sensor);
|
||||
CHECK(assert_equal(f, g, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, PredictWithTransform)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, PredictWithTransform) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -434,39 +424,38 @@ TEST( InertialNavFactor_GlobalVelocity, PredictWithTransform)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
// First test: zero angular motion, some acceleration
|
||||
Vector measurement_gyro((Vector(3) << 0.0, 0.0, 0.0)); // Measured in ENU orientation
|
||||
Vector measurement_gyro((Vector(3) << 0.0, 0.0, 0.0)); // Measured in ENU orientation
|
||||
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
||||
Vector measurement_acc = (Vector(3) << 0.2, 0.1, -0.3+9.81) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
Vector measurement_acc = (Vector(3) << 0.2, 0.1, -0.3 + 9.81)
|
||||
+ omega__cross * omega__cross
|
||||
* body_P_sensor.rotation().inverse().matrix()
|
||||
* body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model, body_P_sensor);
|
||||
|
||||
Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
|
||||
LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
Vector3 Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
imuBias::ConstantBias Bias1;
|
||||
Pose3 expectedPose2(Rot3(), Point3(2.05, 0.95, 3.04));
|
||||
LieVector expectedVel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
Vector3 expectedVel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
Pose3 actualPose2;
|
||||
LieVector actualVel2;
|
||||
Vector3 actualVel2;
|
||||
f.predict(Pose1, Vel1, Bias1, actualPose2, actualVel2);
|
||||
|
||||
CHECK(assert_equal(expectedPose2, actualPose2, 1e-5));
|
||||
CHECK(assert_equal(expectedVel2, actualVel2, 1e-5));
|
||||
CHECK(assert_equal((Vector)expectedVel2, actualVel2, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -474,27 +463,28 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
// First test: zero angular motion, some acceleration
|
||||
Vector measurement_gyro((Vector(3) << 0.0, 0.0, 0.0)); // Measured in ENU orientation
|
||||
Vector measurement_gyro((Vector(3) << 0.0, 0.0, 0.0)); // Measured in ENU orientation
|
||||
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
||||
Vector measurement_acc = (Vector(3) << 0.2, 0.1, -0.3+9.81) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
Vector measurement_acc = (Vector(3) << 0.2, 0.1, -0.3 + 9.81)
|
||||
+ omega__cross * omega__cross
|
||||
* body_P_sensor.rotation().inverse().matrix()
|
||||
* body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model, body_P_sensor);
|
||||
|
||||
Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
|
||||
Pose3 Pose2(Rot3(), Point3(2.05, 0.95, 3.04));
|
||||
LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
LieVector Vel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
Vector3 Vel1((Vector(3) << 0.50, -0.50, 0.40));
|
||||
Vector3 Vel2((Vector(3) << 0.51, -0.48, 0.43));
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
||||
|
|
@ -503,9 +493,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform)
|
|||
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, ErrorRotWithTransform)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, ErrorRotWithTransform) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -513,27 +501,31 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotWithTransform)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
// Second test: zero angular motion, some acceleration
|
||||
Vector measurement_gyro((Vector(3) << 0.2, 0.1, -0.3)); // Measured in ENU orientation
|
||||
Vector measurement_gyro((Vector(3) << 0.2, 0.1, -0.3)); // Measured in ENU orientation
|
||||
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
||||
Vector measurement_acc = (Vector(3) << 0.0, 0.0, 0.0+9.81) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
Vector measurement_acc = (Vector(3) << 0.0, 0.0, 0.0 + 9.81)
|
||||
+ omega__cross * omega__cross
|
||||
* body_P_sensor.rotation().inverse().matrix()
|
||||
* body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model, body_P_sensor);
|
||||
|
||||
Pose3 Pose1(Rot3(), Point3(2.0,1.0,3.0));
|
||||
Pose3 Pose2(Rot3::Expmap(body_P_sensor.rotation().matrix()*measurement_gyro*measurement_dt), Point3(2.0, 1.0, 3.0));
|
||||
LieVector Vel1((Vector(3) << 0.0,0.0,0.0));
|
||||
LieVector Vel2((Vector(3) << 0.0,0.0,0.0));
|
||||
Pose3 Pose1(Rot3(), Point3(2.0, 1.0, 3.0));
|
||||
Pose3 Pose2(
|
||||
Rot3::Expmap(
|
||||
body_P_sensor.rotation().matrix() * measurement_gyro
|
||||
* measurement_dt), Point3(2.0, 1.0, 3.0));
|
||||
Vector3 Vel1((Vector(3) << 0.0, 0.0, 0.0));
|
||||
Vector3 Vel2((Vector(3) << 0.0, 0.0, 0.0));
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
||||
|
|
@ -542,9 +534,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotWithTransform)
|
|||
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform)
|
||||
{
|
||||
/* ************************************************************************* */TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform) {
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
Key VelKey1(21);
|
||||
|
|
@ -552,36 +542,40 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform)
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.1);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
// Second test: zero angular motion, some acceleration - generated in matlab
|
||||
Vector measurement_gyro((Vector(3) << 0.2, 0.1, -0.3)); // Measured in ENU orientation
|
||||
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
||||
Vector measurement_acc = (Vector(3) << -6.763926150509185, 6.501390843381716, +2.300389940090343) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
Vector measurement_acc =
|
||||
(Vector(3) << -6.763926150509185, 6.501390843381716, +2.300389940090343)
|
||||
+ omega__cross * omega__cross
|
||||
* body_P_sensor.rotation().inverse().matrix()
|
||||
* body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model, body_P_sensor);
|
||||
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557,
|
||||
0.580273724, 0.693095498, -0.427669306,
|
||||
-0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0,1.0,3.0);
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557, 0.580273724, 0.693095498,
|
||||
-0.427669306, -0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0, 1.0, 3.0);
|
||||
Pose3 Pose1(R1, t1);
|
||||
LieVector Vel1((Vector(3) << 0.5,-0.5,0.4));
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
|
||||
0.609241153, 0.67099888, -0.422594037,
|
||||
-0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
|
||||
Vector3 Vel1((Vector(3) << 0.5, -0.5, 0.4));
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019, 0.609241153, 0.67099888,
|
||||
-0.422594037, -0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2 = t1.compose(Point3(Vel1 * measurement_dt));
|
||||
Pose3 Pose2(R2, t2);
|
||||
Vector dv = measurement_dt * (R1.matrix() * body_P_sensor.rotation().matrix() * (Vector(3) << -6.763926150509185, 6.501390843381716, +2.300389940090343) + world_g);
|
||||
LieVector Vel2 = Vel1.compose( dv );
|
||||
Vector dv =
|
||||
measurement_dt
|
||||
* (R1.matrix() * body_P_sensor.rotation().matrix()
|
||||
* (Vector(3) << -6.763926150509185, 6.501390843381716, +2.300389940090343)
|
||||
+ world_g);
|
||||
Vector3 Vel2 = Vel1 + dv;
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
||||
|
|
@ -591,8 +585,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform)
|
|||
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
|
||||
/* ************************************************************************* */TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
|
||||
|
||||
Key PoseKey1(11);
|
||||
Key PoseKey2(12);
|
||||
|
|
@ -601,56 +594,68 @@ TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
|
|||
Key BiasKey1(31);
|
||||
|
||||
double measurement_dt(0.01);
|
||||
Vector world_g((Vector(3) << 0.0, 0.0, 9.81));
|
||||
Vector world_rho((Vector(3) << 0.0, -1.5724e-05, 0.0)); // NED system
|
||||
Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
|
||||
Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
||||
|
||||
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
||||
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
||||
|
||||
|
||||
Vector measurement_gyro((Vector(3) << 3.14/2, 3.14, +3.14)); // Measured in ENU orientation
|
||||
Vector measurement_gyro((Vector(3) << 3.14 / 2, 3.14, +3.14)); // Measured in ENU orientation
|
||||
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
||||
Vector measurement_acc = (Vector(3) << -6.763926150509185, 6.501390843381716, +2.300389940090343) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
Vector measurement_acc =
|
||||
(Vector(3) << -6.763926150509185, 6.501390843381716, +2.300389940090343)
|
||||
+ omega__cross * omega__cross
|
||||
* body_P_sensor.rotation().inverse().matrix()
|
||||
* body_P_sensor.translation().vector(); // Measured in ENU orientation
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> factor(
|
||||
PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
|
||||
measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth,
|
||||
model, body_P_sensor);
|
||||
|
||||
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> factor(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
||||
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557,
|
||||
0.580273724, 0.693095498, -0.427669306,
|
||||
-0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0,1.0,3.0);
|
||||
Rot3 R1(0.487316618, 0.125253866, 0.86419557, 0.580273724, 0.693095498,
|
||||
-0.427669306, -0.652537293, 0.709880342, 0.265075427);
|
||||
Point3 t1(2.0, 1.0, 3.0);
|
||||
Pose3 Pose1(R1, t1);
|
||||
LieVector Vel1((Vector(3) << 0.5,-0.5,0.4));
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
|
||||
0.609241153, 0.67099888, -0.422594037,
|
||||
-0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2(2.052670960415706, 0.977252139079380, 2.942482135362800);
|
||||
Vector3 Vel1(0.5, -0.5, 0.4);
|
||||
Rot3 R2(0.473618898, 0.119523052, 0.872582019, 0.609241153, 0.67099888,
|
||||
-0.422594037, -0.636011287, 0.731761397, 0.244979388);
|
||||
Point3 t2(2.052670960415706, 0.977252139079380, 2.942482135362800);
|
||||
Pose3 Pose2(R2, t2);
|
||||
LieVector Vel2((Vector(3) << 0.510000000000000, -0.480000000000000, 0.430000000000000));
|
||||
Vector3 Vel2(0.510000000000000, -0.480000000000000, 0.430000000000000);
|
||||
imuBias::ConstantBias Bias1;
|
||||
|
||||
Matrix H1_actual, H2_actual, H3_actual, H4_actual, H5_actual;
|
||||
|
||||
Vector ActualErr(factor.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2, H1_actual, H2_actual, H3_actual, H4_actual, H5_actual));
|
||||
Vector ActualErr(
|
||||
factor.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2, H1_actual,
|
||||
H2_actual, H3_actual, H4_actual, H5_actual));
|
||||
|
||||
// Checking for Pose part in the jacobians
|
||||
// ******
|
||||
Matrix H1_actualPose(H1_actual.block(0,0,6,H1_actual.cols()));
|
||||
Matrix H2_actualPose(H2_actual.block(0,0,6,H2_actual.cols()));
|
||||
Matrix H3_actualPose(H3_actual.block(0,0,6,H3_actual.cols()));
|
||||
Matrix H4_actualPose(H4_actual.block(0,0,6,H4_actual.cols()));
|
||||
Matrix H5_actualPose(H5_actual.block(0,0,6,H5_actual.cols()));
|
||||
Matrix H1_actualPose(H1_actual.block(0, 0, 6, H1_actual.cols()));
|
||||
Matrix H2_actualPose(H2_actual.block(0, 0, 6, H2_actual.cols()));
|
||||
Matrix H3_actualPose(H3_actual.block(0, 0, 6, H3_actual.cols()));
|
||||
Matrix H4_actualPose(H4_actual.block(0, 0, 6, H4_actual.cols()));
|
||||
Matrix H5_actualPose(H5_actual.block(0, 0, 6, H5_actual.cols()));
|
||||
|
||||
// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
|
||||
Matrix H1_expectedPose, H2_expectedPose, H3_expectedPose, H4_expectedPose, H5_expectedPose;
|
||||
H1_expectedPose = numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
|
||||
H2_expectedPose = numericalDerivative11<Pose3, Vector3>(boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
|
||||
H3_expectedPose = numericalDerivative11<Pose3, imuBias::ConstantBias>(boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
|
||||
H4_expectedPose = numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
|
||||
H5_expectedPose = numericalDerivative11<Pose3, Vector3>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
|
||||
Matrix H1_expectedPose, H2_expectedPose, H3_expectedPose, H4_expectedPose,
|
||||
H5_expectedPose;
|
||||
H1_expectedPose = numericalDerivative11<Pose3, Pose3>(
|
||||
boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor),
|
||||
Pose1);
|
||||
H2_expectedPose = numericalDerivative11<Pose3, Vector3>(
|
||||
boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor),
|
||||
Vel1);
|
||||
H3_expectedPose = numericalDerivative11<Pose3, imuBias::ConstantBias>(
|
||||
boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor),
|
||||
Bias1);
|
||||
H4_expectedPose = numericalDerivative11<Pose3, Pose3>(
|
||||
boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor),
|
||||
Pose2);
|
||||
H5_expectedPose = numericalDerivative11<Pose3, Vector3>(
|
||||
boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor),
|
||||
Vel2);
|
||||
|
||||
// Verify they are equal for this choice of state
|
||||
CHECK( assert_equal(H1_expectedPose, H1_actualPose, 1e-5));
|
||||
|
|
@ -661,19 +666,30 @@ TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
|
|||
|
||||
// Checking for Vel part in the jacobians
|
||||
// ******
|
||||
Matrix H1_actualVel(H1_actual.block(6,0,3,H1_actual.cols()));
|
||||
Matrix H2_actualVel(H2_actual.block(6,0,3,H2_actual.cols()));
|
||||
Matrix H3_actualVel(H3_actual.block(6,0,3,H3_actual.cols()));
|
||||
Matrix H4_actualVel(H4_actual.block(6,0,3,H4_actual.cols()));
|
||||
Matrix H5_actualVel(H5_actual.block(6,0,3,H5_actual.cols()));
|
||||
Matrix H1_actualVel(H1_actual.block(6, 0, 3, H1_actual.cols()));
|
||||
Matrix H2_actualVel(H2_actual.block(6, 0, 3, H2_actual.cols()));
|
||||
Matrix H3_actualVel(H3_actual.block(6, 0, 3, H3_actual.cols()));
|
||||
Matrix H4_actualVel(H4_actual.block(6, 0, 3, H4_actual.cols()));
|
||||
Matrix H5_actualVel(H5_actual.block(6, 0, 3, H5_actual.cols()));
|
||||
|
||||
// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
|
||||
Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel, H5_expectedVel;
|
||||
H1_expectedVel = numericalDerivative11<Vector, Pose3>(boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
|
||||
H2_expectedVel = numericalDerivative11<Vector, Vector3>(boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
|
||||
H3_expectedVel = numericalDerivative11<Vector, imuBias::ConstantBias>(boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
|
||||
H4_expectedVel = numericalDerivative11<Vector, Pose3>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
|
||||
H5_expectedVel = numericalDerivative11<Vector, Vector3>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
|
||||
Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel,
|
||||
H5_expectedVel;
|
||||
H1_expectedVel = numericalDerivative11<Vector, Pose3>(
|
||||
boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor),
|
||||
Pose1);
|
||||
H2_expectedVel = numericalDerivative11<Vector, Vector3>(
|
||||
boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor),
|
||||
Vel1);
|
||||
H3_expectedVel = numericalDerivative11<Vector, imuBias::ConstantBias>(
|
||||
boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor),
|
||||
Bias1);
|
||||
H4_expectedVel = numericalDerivative11<Vector, Pose3>(
|
||||
boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor),
|
||||
Pose2);
|
||||
H5_expectedVel = numericalDerivative11<Vector, Vector3>(
|
||||
boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor),
|
||||
Vel2);
|
||||
|
||||
// Verify they are equal for this choice of state
|
||||
CHECK( assert_equal(H1_expectedVel, H1_actualVel, 1e-5));
|
||||
|
|
@ -684,5 +700,8 @@ TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
||||
int main() {
|
||||
TestResult tr;
|
||||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
Loading…
Reference in New Issue