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Now uses Runner

release/4.3a0
Frank Dellaert 2015-12-23 12:34:30 -08:00
parent b7701f0cf6
commit 630c2a7a18
1 changed files with 13 additions and 52 deletions
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65
gtsam/navigation/tests/testImuFactor.cpp
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@ -57,15 +57,17 @@ Rot3 evaluateRotationError(const ImuFactor& factor, const Pose3& pose_i,
// Define covariance matrices
/* ************************************************************************* */
double accNoiseVar = 0.01;
double omegaNoiseVar = 0.03;
double intNoiseVar = 0.0001;
const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3;
const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3;
const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3;
const Vector3 accNoiseVar2(0.01, 0.02, 0.03);
const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02);
int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10;
static const double kGyroSigma = 0.02;
static const double kAccelerometerSigma = 0.1;
static double omegaNoiseVar = kGyroSigma * kGyroSigma;
static double accNoiseVar = kAccelerometerSigma * kAccelerometerSigma;
static double intNoiseVar = 0.0001;
static const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3;
static const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3;
static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3;
static const Vector3 accNoiseVar2(0.01, 0.02, 0.03);
static const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02);
static int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10;
// Auxiliary functions to test preintegrated Jacobians
// delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_
@ -165,7 +167,7 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim,
}
/* ************************************************************************* */
TEST(ImuFactor, StraightLine) {
TEST(ImuFactor, Accelerating) {
const double a = 0.2, v=50;
// Set up body pointing towards y axis, and start at 10,20,0 with velocity going in X
@ -178,8 +180,7 @@ TEST(ImuFactor, StraightLine) {
Vector3(a, 0, 0));
const double T = 3.0; // seconds
ScenarioRunner runner(&scenario, T / 10, sqrt(omegaNoiseVar),
sqrt(accNoiseVar));
ScenarioRunner runner(&scenario, T / 10, kGyroSigma, kAccelerometerSigma);
ImuFactor::PreintegratedMeasurements pim = runner.integrate(T);
EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9));
@ -187,20 +188,6 @@ TEST(ImuFactor, StraightLine) {
Matrix6 estimatedCov = runner.estimatePoseCovariance(T);
EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 0.1));
// Set up IMU measurements
const double g = 10; // make gravity 10 to make this easy to check
const double dt22 = T * T / 2;
// set up acceleration in X direction, no angular velocity.
// Since body Z-axis is pointing down, accelerometer measures table exerting force in negative Z
Vector3 measuredAcc(a, 0, -g), measuredOmega(0, 0, 0);
// Create parameters assuming nav frame has Z up
boost::shared_ptr<PreintegratedImuMeasurements::Params> p =
PreintegratedImuMeasurements::Params::MakeSharedU(g);
p->accelerometerCovariance = kMeasuredAccCovariance;
p->gyroscopeCovariance = kMeasuredOmegaCovariance;
// Check G1 and G2 derivatives of pim.update
Matrix93 aG1,aG2;
boost::function<NavState(const Vector3&, const Vector3&)> f =
@ -209,32 +196,6 @@ TEST(ImuFactor, StraightLine) {
pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2);
EXPECT(assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7));
EXPECT(assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7));
// Do Monte-Carlo analysis
PreintegratedImuMeasurements pimMC(kZeroBiasHat, p->accelerometerCovariance,
p->gyroscopeCovariance, Z_3x3, true); // MonteCarlo does not sample integration noise
EXPECT(
MonteCarlo(pimMC, state1, kZeroBias, T / 10, boost::none, measuredAcc,
measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000));
// Check integrated quantities in body frame: gravity measured by IMU is integrated!
Vector3 b_deltaP(a * dt22, 0, -g * dt22);
Vector3 b_deltaV(a * T, 0, -g * T);
EXPECT(assert_equal(Rot3(), pim.deltaRij()));
EXPECT(assert_equal(b_deltaP, pim.deltaPij()));
EXPECT(assert_equal(b_deltaV, pim.deltaVij()));
// Check bias-corrected delta: also in body frame
Vector9 expectedBC;
expectedBC << Vector3(0, 0, 0), b_deltaP, b_deltaV;
EXPECT(assert_equal(expectedBC, pim.biasCorrectedDelta(kZeroBias)));
// Check prediction in nav, note we move along x in body, along y in nav
Point3 expected_position(10 + v * T, 20 + a * dt22, 0);
Velocity3 expected_velocity(v, a * T, 0);
NavState expected(nRb, expected_position, expected_velocity);
const NavState state1(nRb, initial_position, initial_velocity);
EXPECT(assert_equal(expected, pim.predict(state1, kZeroBias)));
}
/* ************************************************************************* */