Add Barometric Factor
peterQFR
parent
e6d29a4545
commit
6813e2a3fc
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@ -15,7 +15,7 @@ set (gtsam_subdirs
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sam
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sfm
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slam
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navigation
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navigation
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)
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set(gtsam_srcs)
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@ -0,0 +1,52 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file BarometricFactor.cpp
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* @author Peter Milani
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* @brief Implementation file for Barometric factor
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* @date December 16, 2021
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**/
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#include "BarometricFactor.h"
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using namespace std;
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namespace gtsam {
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//***************************************************************************
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void BarometricFactor::print(const string& s, const KeyFormatter& keyFormatter) const {
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cout << (s.empty() ? "" : s + " ") << "Barometric Factor on " << keyFormatter(key1())
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<< "Barometric Bias on " << keyFormatter(key2()) << "\n";
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cout << " Baro measurement: " << nT_ << "\n";
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noiseModel_->print(" noise model: ");
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}
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//***************************************************************************
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bool BarometricFactor::equals(const NonlinearFactor& expected, double tol) const {
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const This* e = dynamic_cast<const This*>(&expected);
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return e != nullptr && Base::equals(*e, tol) && traits<double>::Equals(nT_, e->nT_, tol);
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}
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//***************************************************************************
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Vector BarometricFactor::evaluateError(const Pose3& p,
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const double& bias, boost::optional<Matrix&> H,
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boost::optional<Matrix&> H2) const {
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if (H2) (*H2) = (Matrix(1,1) << 1.0).finished();
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if(H)(*H) = (Matrix(1, 6)<< 0., 0., 0.,0., 0., 1.).finished();
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return (Vector(1) <<(p.translation().z()+bias - nT_)).finished();
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}
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//***************************************************************************
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}/// namespace gtsam
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@ -0,0 +1,113 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file BarometricFactor.h
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* @author Peter Milani
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* @brief Header file for Barometric factor
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* @date December 16, 2021
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**/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/navigation/NavState.h>
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#include <gtsam/geometry/Pose3.h>
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namespace gtsam {
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/**
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* Prior on height in a cartesian frame.
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* Receive barometric pressure in kilopascals
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* Model with a slowly moving bias to capture differences
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* between the height and the standard atmosphere
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* https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
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* @addtogroup Navigation
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*/
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class GTSAM_EXPORT BarometricFactor: public NoiseModelFactor2<Pose3, double> {
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private:
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typedef NoiseModelFactor2<Pose3, double> Base;
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double nT_; ///< Height Measurement based on a standard atmosphere
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public:
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/// shorthand for a smart pointer to a factor
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typedef boost::shared_ptr<BarometricFactor> shared_ptr;
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/// Typedef to this class
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typedef BarometricFactor This;
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/** default constructor - only use for serialization */
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BarometricFactor(): nT_(0) {}
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~BarometricFactor() override {}
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/**
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* @brief Constructor from a measurement of pressure in KPa.
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* @param key of the Pose3 variable that will be constrained
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* @param key of the barometric bias that will be constrained
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* @param baroIn measurement in KPa
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* @param model Gaussian noise model 1 dimension
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*/
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BarometricFactor(Key key, Key baroKey, const double& baroIn, const SharedNoiseModel& model) :
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Base(model, key, baroKey), nT_(heightOut(baroIn)) {
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}
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/// @return a deep copy of this factor
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gtsam::NonlinearFactor::shared_ptr clone() const override {
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return boost::static_pointer_cast<gtsam::NonlinearFactor>(
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gtsam::NonlinearFactor::shared_ptr(new This(*this)));
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}
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/// print
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void print(const std::string& s = "", const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const override;
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/// equals
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bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override;
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/// vector of errors
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Vector evaluateError(const Pose3& p, const double& b,
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boost::optional<Matrix&> H = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const override;
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inline const double & measurementIn() const {
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return nT_;
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}
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inline double heightOut(double n) const {
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//From https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
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return (std::pow(n/101.29, 1./5.256)*288.08 - 273.1 - 15.04)/-0.00649;
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};
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inline double baroOut(const double& meters)
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{
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double temp = 15.04 - 0.00649*meters;
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return 101.29*std::pow(((temp+273.1)/288.08), 5.256);
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};
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private:
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/// Serialization function
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar
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& boost::serialization::make_nvp("NoiseModelFactor1",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(nT_);
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}
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};
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} /// namespace gtsam
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@ -0,0 +1,118 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testBarometricFactor.cpp
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* @brief Unit test for BarometricFactor
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* @author Peter Milani
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* @date 16 Dec, 2021
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*/
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#include <gtsam/navigation/BarometricFactor.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <boost/bind/bind.hpp>
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#include <CppUnitLite/TestHarness.h>
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using namespace std::placeholders;
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using namespace std;
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using namespace gtsam;
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// *************************************************************************
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namespace example {
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}
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double metersToBaro(const double& meters)
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{
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double temp = 15.04 - 0.00649*meters;
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return 101.29*std::pow(((temp+273.1)/288.08), 5.256);
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}
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// *************************************************************************
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TEST( BarometricFactor, Constructor ) {
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using namespace example;
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//meters to barometric.
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double baroMeasurement = metersToBaro(10.);
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// Factor
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Key key(1);
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Key key2(2);
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25);
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BarometricFactor factor(key, key2, baroMeasurement, model);
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// Create a linearization point at zero error
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Pose3 T(Rot3::RzRyRx(0., 0., 0.), Point3(0., 0., 10.));
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double baroBias=0.;
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Vector1 zero;
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zero<< 0.;
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EXPECT(assert_equal(zero, factor.evaluateError(T, baroBias),1e-5));
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// Calculate numerical derivatives
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Matrix expectedH = numericalDerivative21<Vector,Pose3, double>(
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std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1,
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std::placeholders::_2, boost::none, boost::none), T, baroBias);
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Matrix expectedH2 = numericalDerivative22<Vector,Pose3, double>(
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std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1,
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std::placeholders::_2, boost::none, boost::none), T, baroBias);
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// Use the factor to calculate the derivative
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Matrix actualH, actualH2;
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factor.evaluateError(T, baroBias, actualH, actualH2);
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// Verify we get the expected error
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EXPECT(assert_equal(expectedH, actualH, 1e-8));
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EXPECT(assert_equal(expectedH2, actualH2, 1e-8));
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}
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// *************************************************************************
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//***************************************************************************
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TEST(GPSData, init) {
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/* GPS Reading 1 will be ENU origin
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double t1 = 84831;
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Point3 NED1(0, 0, 0);
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LocalCartesian enu(35.4393283333333, -119.062986666667, 275.54, kWGS84);
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// GPS Readin 2
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double t2 = 84831.5;
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double E, N, U;
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enu.Forward(35.4394633333333, -119.063146666667, 276.52, E, N, U);
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Point3 NED2(N, E, -U);
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// Estimate initial state
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Pose3 T;
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Vector3 nV;
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boost::tie(T, nV) = GPSFactor::EstimateState(t1, NED1, t2, NED2, 84831.0796);
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// Check values values
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EXPECT(assert_equal((Vector )Vector3(29.9575, -29.0564, -1.95993), nV, 1e-4));
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EXPECT( assert_equal(Rot3::Ypr(-0.770131, 0.046928, 0), T.rotation(), 1e-5));
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Point3 expectedT(2.38461, -2.31289, -0.156011);
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EXPECT(assert_equal(expectedT, T.translation(), 1e-5));
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*/
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}
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// *************************************************************************
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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// *************************************************************************
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