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Simplify code as we know the Jacobian = R

release/4.3a0
AndreMichelin 2024-08-12 19:55:06 -07:00
parent c22b76506c
commit c2145bdffc
1 changed files with 4 additions and 6 deletions
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10
gtsam/navigation/PreintegratedRotation.cpp
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@ -75,13 +75,11 @@ Rot3 IncrementalRotation::operator()(
Vector3 correctedOmega = measuredOmega - bias;
// Then compensate for sensor-body displacement: we express the quantities
// (originally in the IMU frame) into the body frame. If Jacobian is
// requested, the rotation matrix is obtained as `rotate` Jacobian.
Matrix3 body_R_sensor;
// (originally in the IMU frame) into the body frame.
// Note that the rotate Jacobian is just body_P_sensor->rotation().matrix().
if (body_P_sensor) {
// rotation rate vector in the body frame
correctedOmega = body_P_sensor->rotation().rotate(
correctedOmega, {}, H_bias ? &body_R_sensor : nullptr);
correctedOmega = body_P_sensor->rotation() * correctedOmega;
}
// rotation vector describing rotation increment computed from the
@ -90,7 +88,7 @@ Rot3 IncrementalRotation::operator()(
Rot3 incrR = Rot3::Expmap(integratedOmega, H_bias); // expensive !!
if (H_bias) {
*H_bias *= -deltaT; // Correct so accurately reflects bias derivative
if (body_P_sensor) *H_bias *= body_R_sensor;
if (body_P_sensor) *H_bias *= body_P_sensor->rotation().matrix();
}
return incrR;
}