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removed last redundancy between error computation and predict

release/4.3a0
Luca 2014-12-04 16:56:55 -05:00
parent c1d63b77ff
commit 83d84bcc29
1 changed files with 11 additions and 20 deletions
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31
gtsam/navigation/ImuFactorBase.h
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@ -105,10 +105,9 @@ public:
const Vector3 biasOmegaIncr = bias_i.gyroscope() - preintegratedMeasurements_.biasHat_.gyroscope(); const Vector3 biasOmegaIncr = bias_i.gyroscope() - preintegratedMeasurements_.biasHat_.gyroscope();
// we give some shorter name to rotations and translations // we give some shorter name to rotations and translations
const Rot3 Rot_i = pose_i.rotation(); const Rot3& Rot_i = pose_i.rotation();
const Rot3 Rot_j = pose_j.rotation(); const Rot3& Rot_j = pose_j.rotation();
const Vector3 pos_i = pose_i.translation().vector(); const Vector3& pos_j = pose_j.translation().vector();
const Vector3 pos_j = pose_j.translation().vector();
// Jacobian computation // Jacobian computation
/* ---------------------------------------------------------------------------------------------------- */ /* ---------------------------------------------------------------------------------------------------- */
@ -208,22 +207,14 @@ public:
// Evaluate residual error, according to [3] // Evaluate residual error, according to [3]
/* ---------------------------------------------------------------------------------------------------- */ /* ---------------------------------------------------------------------------------------------------- */
const Vector3 fp = PoseVelocityBias predictedState_j = ImuFactorBase::predict(pose_i, vel_i, bias_i, preintegratedMeasurements_,
pos_j - pos_i gravity_, omegaCoriolis_, use2ndOrderCoriolis_);
- Rot_i.matrix() * (preintegratedMeasurements_.deltaPij_
+ preintegratedMeasurements_.delPdelBiasAcc_ * biasAccIncr
+ preintegratedMeasurements_.delPdelBiasOmega_ * biasOmegaIncr)
- vel_i * deltaTij
+ skewSymmetric(omegaCoriolis_) * vel_i * deltaTij*deltaTij // Coriolis term - we got rid of the 2 wrt ins paper
- 0.5 * gravity_ * deltaTij*deltaTij;
const Vector3 fv = const Vector3 fp = pos_j - predictedState_j.pose.translation().vector();
vel_j - vel_i - Rot_i.matrix() * (preintegratedMeasurements_.deltaVij_
+ preintegratedMeasurements_.delVdelBiasAcc_ * biasAccIncr
+ preintegratedMeasurements_.delVdelBiasOmega_ * biasOmegaIncr)
+ 2 * skewSymmetric(omegaCoriolis_) * vel_i * deltaTij // Coriolis term
- gravity_ * deltaTij;
const Vector3 fv = vel_j - predictedState_j.velocity;
// This is the same as: dR = (predictedState_j.pose.translation()).between(Rot_j)
const Vector3 fR = Rot3::Logmap(fRhat); const Vector3 fR = Rot3::Logmap(fRhat);
Vector r(9); r << fp, fv, fR; Vector r(9); r << fp, fv, fR;
@ -241,8 +232,8 @@ public:
const Vector3 biasAccIncr = bias_i.accelerometer() - preintegratedMeasurements.biasHat_.accelerometer(); const Vector3 biasAccIncr = bias_i.accelerometer() - preintegratedMeasurements.biasHat_.accelerometer();
const Vector3 biasOmegaIncr = bias_i.gyroscope() - preintegratedMeasurements.biasHat_.gyroscope(); const Vector3 biasOmegaIncr = bias_i.gyroscope() - preintegratedMeasurements.biasHat_.gyroscope();
const Rot3 Rot_i = pose_i.rotation(); const Rot3& Rot_i = pose_i.rotation();
const Vector3 pos_i = pose_i.translation().vector(); const Vector3& pos_i = pose_i.translation().vector();
// Predict state at time j // Predict state at time j
/* ---------------------------------------------------------------------------------------------------- */ /* ---------------------------------------------------------------------------------------------------- */