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Updated derivatives

release/4.3a0
dellaert 2014-12-26 20:55:27 +01:00
parent 4610019d89
commit a59ace5879
1 changed files with 55 additions and 61 deletions
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92
gtsam/navigation/CombinedImuFactor.cpp
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@ -196,74 +196,68 @@ bool CombinedImuFactor::equals(const NonlinearFactor& expected, double tol) cons
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j, Vector CombinedImuFactor::evaluateError(const Pose3& pose_i,
const Vector3& vel_i, const Pose3& pose_j, const Vector3& vel_j,
const imuBias::ConstantBias& bias_i, const imuBias::ConstantBias& bias_j, const imuBias::ConstantBias& bias_i, const imuBias::ConstantBias& bias_j,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2, boost::optional<Matrix&> H1, boost::optional<Matrix&> H2,
boost::optional<Matrix&> H3, boost::optional<Matrix&> H4, boost::optional<Matrix&> H3, boost::optional<Matrix&> H4,
boost::optional<Matrix&> H5, boost::optional<Matrix&> H6) const { boost::optional<Matrix&> H5, boost::optional<Matrix&> H6) const {
// error wrt bias evolution model (random walk)
Matrix6 Hbias_i, Hbias_j;
Vector6 fbias = traits<imuBias::ConstantBias>::Between(bias_j, bias_i,
H6 ? &Hbias_j : 0, H5 ? &Hbias_i : 0).vector();
Matrix96 D_r_pose_i, D_r_pose_j, D_r_bias_i;
Matrix93 D_r_vel_i, D_r_vel_j;
// error wrt preintegrated measurements
Vector9 r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j,
bias_i, gravity_, omegaCoriolis_, use2ndOrderCoriolis_,
H1 ? &D_r_pose_i : 0, H2 ? &D_r_vel_i : 0, H3 ? &D_r_pose_j : 0,
H4 ? &D_r_vel_j : 0, H5 ? &D_r_bias_i : 0);
// if we need the jacobians // if we need the jacobians
if(H1 || H2 || H3 || H4 || H5 || H6){ if (H1) {
Matrix H1_pvR, H2_pvR, H3_pvR, H4_pvR, H5_pvR, Hbias_i, Hbias_j; // pvR = mnemonic: position (p), velocity (v), rotation (R) H1->resize(15, 6);
H1->block < 9, 6 > (0, 0) = D_r_pose_i;
// error wrt preintegrated measurements
Vector r_pvR(9);
r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i,
gravity_, omegaCoriolis_, use2ndOrderCoriolis_, //
H1_pvR, H2_pvR, H3_pvR, H4_pvR, H5_pvR);
// error wrt bias evolution model (random walk)
Vector6 fbias = bias_j.between(bias_i, Hbias_j, Hbias_i).vector(); // [bias_j.acc - bias_i.acc; bias_j.gyr - bias_i.gyr]
if(H1) {
H1->resize(15,6);
H1->block<9,6>(0,0) = H1_pvR;
// adding: [dBiasAcc/dPi ; dBiasOmega/dPi] // adding: [dBiasAcc/dPi ; dBiasOmega/dPi]
H1->block<6,6>(9,0) = Z_6x6; H1->block < 6, 6 > (9, 0) = Z_6x6;
} }
if(H2) { if (H2) {
H2->resize(15,3); H2->resize(15, 3);
H2->block<9,3>(0,0) = H2_pvR; H2->block < 9, 3 > (0, 0) = D_r_vel_i;
// adding: [dBiasAcc/dVi ; dBiasOmega/dVi] // adding: [dBiasAcc/dVi ; dBiasOmega/dVi]
H2->block<6,3>(9,0) = Matrix::Zero(6,3); H2->block < 6, 3 > (9, 0) = Matrix::Zero(6, 3);
} }
if(H3) { if (H3) {
H3->resize(15,6); H3->resize(15, 6);
H3->block<9,6>(0,0) = H3_pvR; H3->block < 9, 6 > (0, 0) = D_r_pose_j;
// adding: [dBiasAcc/dPj ; dBiasOmega/dPj] // adding: [dBiasAcc/dPj ; dBiasOmega/dPj]
H3->block<6,6>(9,0) = Z_6x6; H3->block < 6, 6 > (9, 0) = Z_6x6;
} }
if(H4) { if (H4) {
H4->resize(15,3); H4->resize(15, 3);
H4->block<9,3>(0,0) = H4_pvR; H4->block < 9, 3 > (0, 0) = D_r_vel_j;
// adding: [dBiasAcc/dVi ; dBiasOmega/dVi] // adding: [dBiasAcc/dVi ; dBiasOmega/dVi]
H4->block<6,3>(9,0) = Matrix::Zero(6,3); H4->block < 6, 3 > (9, 0) = Matrix::Zero(6, 3);
} }
if(H5) { if (H5) {
H5->resize(15,6); H5->resize(15, 6);
H5->block<9,6>(0,0) = H5_pvR; H5->block < 9, 6 > (0, 0) = D_r_bias_i;
// adding: [dBiasAcc/dBias_i ; dBiasOmega/dBias_i] // adding: [dBiasAcc/dBias_i ; dBiasOmega/dBias_i]
H5->block<6,6>(9,0) = Hbias_i; H5->block < 6, 6 > (9, 0) = Hbias_i;
} }
if(H6) { if (H6) {
H6->resize(15,6); H6->resize(15, 6);
H6->block<9,6>(0,0) = Matrix::Zero(9,6); H6->block < 9, 6 > (0, 0) = Matrix::Zero(9, 6);
// adding: [dBiasAcc/dBias_j ; dBiasOmega/dBias_j] // adding: [dBiasAcc/dBias_j ; dBiasOmega/dBias_j]
H6->block<6,6>(9,0) = Hbias_j; H6->block < 6, 6 > (9, 0) = Hbias_j;
} }
Vector r(15); r << r_pvR, fbias; // vector of size 15
return r;
}
// else, only compute the error vector:
// error wrt preintegrated measurements
Vector r_pvR(9);
r_pvR = _PIM_.computeErrorAndJacobians(pose_i, vel_i, pose_j, vel_j, bias_i,
gravity_, omegaCoriolis_, use2ndOrderCoriolis_, //
boost::none, boost::none, boost::none, boost::none, boost::none);
// error wrt bias evolution model (random walk)
Vector6 fbias = bias_j.between(bias_i).vector(); // [bias_j.acc - bias_i.acc; bias_j.gyr - bias_i.gyr]
// overall error // overall error
Vector r(15); r << r_pvR, fbias; // vector of size 15 Vector r(15);
r << r_pvR, fbias; // vector of size 15
return r; return r;
} }