Updated derivatives
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4610019d89
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a59ace5879
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@ -196,74 +196,68 @@ bool CombinedImuFactor::equals(const NonlinearFactor& expected, double tol) cons
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}
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//------------------------------------------------------------------------------
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Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j,
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Vector CombinedImuFactor::evaluateError(const Pose3& pose_i,
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const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j,
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const imuBias::ConstantBias& bias_i, const imuBias::ConstantBias& bias_j,
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boost::optional<Matrix&> H1, boost::optional<Matrix&> H2,
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boost::optional<Matrix&> H3, boost::optional<Matrix&> H4,
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boost::optional<Matrix&> H5, boost::optional<Matrix&> H6) const {
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// if we need the jacobians
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if(H1 || H2 || H3 || H4 || H5 || H6){
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Matrix H1_pvR, H2_pvR, H3_pvR, H4_pvR, H5_pvR, Hbias_i, Hbias_j; // pvR = mnemonic: position (p), velocity (v), rotation (R)
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// error wrt preintegrated measurements
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Vector r_pvR(9);
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r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i,
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gravity_, omegaCoriolis_, use2ndOrderCoriolis_, //
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H1_pvR, H2_pvR, H3_pvR, H4_pvR, H5_pvR);
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// error wrt bias evolution model (random walk)
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Vector6 fbias = bias_j.between(bias_i, Hbias_j, Hbias_i).vector(); // [bias_j.acc - bias_i.acc; bias_j.gyr - bias_i.gyr]
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if(H1) {
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H1->resize(15,6);
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H1->block<9,6>(0,0) = H1_pvR;
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// adding: [dBiasAcc/dPi ; dBiasOmega/dPi]
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H1->block<6,6>(9,0) = Z_6x6;
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}
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if(H2) {
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H2->resize(15,3);
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H2->block<9,3>(0,0) = H2_pvR;
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// adding: [dBiasAcc/dVi ; dBiasOmega/dVi]
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H2->block<6,3>(9,0) = Matrix::Zero(6,3);
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}
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if(H3) {
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H3->resize(15,6);
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H3->block<9,6>(0,0) = H3_pvR;
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// adding: [dBiasAcc/dPj ; dBiasOmega/dPj]
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H3->block<6,6>(9,0) = Z_6x6;
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}
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if(H4) {
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H4->resize(15,3);
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H4->block<9,3>(0,0) = H4_pvR;
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// adding: [dBiasAcc/dVi ; dBiasOmega/dVi]
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H4->block<6,3>(9,0) = Matrix::Zero(6,3);
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}
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if(H5) {
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H5->resize(15,6);
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H5->block<9,6>(0,0) = H5_pvR;
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// adding: [dBiasAcc/dBias_i ; dBiasOmega/dBias_i]
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H5->block<6,6>(9,0) = Hbias_i;
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}
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if(H6) {
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H6->resize(15,6);
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H6->block<9,6>(0,0) = Matrix::Zero(9,6);
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// adding: [dBiasAcc/dBias_j ; dBiasOmega/dBias_j]
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H6->block<6,6>(9,0) = Hbias_j;
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}
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Vector r(15); r << r_pvR, fbias; // vector of size 15
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return r;
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}
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// else, only compute the error vector:
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// error wrt preintegrated measurements
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Vector r_pvR(9);
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r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i,
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gravity_, omegaCoriolis_, use2ndOrderCoriolis_, //
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boost::none, boost::none, boost::none, boost::none, boost::none);
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// error wrt bias evolution model (random walk)
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Vector6 fbias = bias_j.between(bias_i).vector(); // [bias_j.acc - bias_i.acc; bias_j.gyr - bias_i.gyr]
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Matrix6 Hbias_i, Hbias_j;
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Vector6 fbias = traits<imuBias::ConstantBias>::Between(bias_j, bias_i,
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H6 ? &Hbias_j : 0, H5 ? &Hbias_i : 0).vector();
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Matrix96 D_r_pose_i, D_r_pose_j, D_r_bias_i;
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Matrix93 D_r_vel_i, D_r_vel_j;
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// error wrt preintegrated measurements
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Vector9 r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j,
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bias_i, gravity_, omegaCoriolis_, use2ndOrderCoriolis_,
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H1 ? &D_r_pose_i : 0, H2 ? &D_r_vel_i : 0, H3 ? &D_r_pose_j : 0,
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H4 ? &D_r_vel_j : 0, H5 ? &D_r_bias_i : 0);
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// if we need the jacobians
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if (H1) {
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H1->resize(15, 6);
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H1->block < 9, 6 > (0, 0) = D_r_pose_i;
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// adding: [dBiasAcc/dPi ; dBiasOmega/dPi]
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H1->block < 6, 6 > (9, 0) = Z_6x6;
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}
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if (H2) {
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H2->resize(15, 3);
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H2->block < 9, 3 > (0, 0) = D_r_vel_i;
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// adding: [dBiasAcc/dVi ; dBiasOmega/dVi]
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H2->block < 6, 3 > (9, 0) = Matrix::Zero(6, 3);
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}
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if (H3) {
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H3->resize(15, 6);
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H3->block < 9, 6 > (0, 0) = D_r_pose_j;
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// adding: [dBiasAcc/dPj ; dBiasOmega/dPj]
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H3->block < 6, 6 > (9, 0) = Z_6x6;
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}
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if (H4) {
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H4->resize(15, 3);
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H4->block < 9, 3 > (0, 0) = D_r_vel_j;
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// adding: [dBiasAcc/dVi ; dBiasOmega/dVi]
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H4->block < 6, 3 > (9, 0) = Matrix::Zero(6, 3);
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}
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if (H5) {
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H5->resize(15, 6);
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H5->block < 9, 6 > (0, 0) = D_r_bias_i;
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// adding: [dBiasAcc/dBias_i ; dBiasOmega/dBias_i]
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H5->block < 6, 6 > (9, 0) = Hbias_i;
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}
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if (H6) {
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H6->resize(15, 6);
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H6->block < 9, 6 > (0, 0) = Matrix::Zero(9, 6);
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// adding: [dBiasAcc/dBias_j ; dBiasOmega/dBias_j]
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H6->block < 6, 6 > (9, 0) = Hbias_j;
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}
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// overall error
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Vector r(15); r << r_pvR, fbias; // vector of size 15
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Vector r(15);
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r << r_pvR, fbias; // vector of size 15
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return r;
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}
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