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release/4.3a0
peterQFR 2021-12-20 07:24:52 +10:00
parent a7f6856d6a
commit cf0830084d
3 changed files with 149 additions and 155 deletions
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29
gtsam/navigation/BarometricFactor.cpp
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@ -23,30 +23,31 @@ using namespace std;
namespace gtsam { namespace gtsam {
//*************************************************************************** //***************************************************************************
void BarometricFactor::print(const string& s, const KeyFormatter& keyFormatter) const { void BarometricFactor::print(const string& s,
cout << (s.empty() ? "" : s + " ") << "Barometric Factor on " << keyFormatter(key1()) const KeyFormatter& keyFormatter) const {
<< "Barometric Bias on " << keyFormatter(key2()) << "\n"; cout << (s.empty() ? "" : s + " ") << "Barometric Factor on "
<< keyFormatter(key1()) << "Barometric Bias on "
<< keyFormatter(key2()) << "\n";
cout << " Baro measurement: " << nT_ << "\n"; cout << " Baro measurement: " << nT_ << "\n";
noiseModel_->print(" noise model: "); noiseModel_->print(" noise model: ");
} }
//*************************************************************************** //***************************************************************************
bool BarometricFactor::equals(const NonlinearFactor& expected, double tol) const { bool BarometricFactor::equals(const NonlinearFactor& expected,
double tol) const {
const This* e = dynamic_cast<const This*>(&expected); const This* e = dynamic_cast<const This*>(&expected);
return e != nullptr && Base::equals(*e, tol) && traits<double>::Equals(nT_, e->nT_, tol); return e != nullptr && Base::equals(*e, tol) &&
traits<double>::Equals(nT_, e->nT_, tol);
} }
//*************************************************************************** //***************************************************************************
Vector BarometricFactor::evaluateError(const Pose3& p, Vector BarometricFactor::evaluateError(const Pose3& p, const double& bias,
const double& bias, boost::optional<Matrix&> H, boost::optional<Matrix&> H,
boost::optional<Matrix&> H2) const { boost::optional<Matrix&> H2) const {
if (H2) (*H2) = (Matrix(1, 1) << 1.0).finished();
if (H2) (*H2) = (Matrix(1,1) << 1.0).finished(); if (H) (*H) = (Matrix(1, 6) << 0., 0., 0., 0., 0., 1.).finished();
if(H)(*H) = (Matrix(1, 6) << 0., 0., 0., 0., 0., 1.).finished(); return (Vector(1) << (p.translation().z() + bias - nT_)).finished();
return (Vector(1) <<(p.translation().z()+bias - nT_)).finished();
} }
//*************************************************************************** } // namespace gtsam
}/// namespace gtsam

64
gtsam/navigation/BarometricFactor.h
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@ -17,9 +17,9 @@
**/ **/
#pragma once #pragma once
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/navigation/NavState.h>
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/navigation/NavState.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
namespace gtsam { namespace gtsam {
@ -31,16 +31,13 @@ namespace gtsam {
* https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html * https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
* @addtogroup Navigation * @addtogroup Navigation
*/ */
class GTSAM_EXPORT BarometricFactor: public NoiseModelFactor2<Pose3, double> { class GTSAM_EXPORT BarometricFactor : public NoiseModelFactor2<Pose3, double> {
private:
private:
typedef NoiseModelFactor2<Pose3, double> Base; typedef NoiseModelFactor2<Pose3, double> Base;
double nT_; ///< Height Measurement based on a standard atmosphere double nT_; ///< Height Measurement based on a standard atmosphere
public: public:
/// shorthand for a smart pointer to a factor /// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<BarometricFactor> shared_ptr; typedef boost::shared_ptr<BarometricFactor> shared_ptr;
@ -48,7 +45,7 @@ public:
typedef BarometricFactor This; typedef BarometricFactor This;
/** default constructor - only use for serialization */ /** default constructor - only use for serialization */
BarometricFactor(): nT_(0) {} BarometricFactor() : nT_(0) {}
~BarometricFactor() override {} ~BarometricFactor() override {}
@ -59,9 +56,9 @@ public:
* @param baroIn measurement in KPa * @param baroIn measurement in KPa
* @param model Gaussian noise model 1 dimension * @param model Gaussian noise model 1 dimension
*/ */
BarometricFactor(Key key, Key baroKey, const double& baroIn, const SharedNoiseModel& model) : BarometricFactor(Key key, Key baroKey, const double& baroIn,
Base(model, key, baroKey), nT_(heightOut(baroIn)) { const SharedNoiseModel& model)
} : Base(model, key, baroKey), nT_(heightOut(baroIn)) {}
/// @return a deep copy of this factor /// @return a deep copy of this factor
gtsam::NonlinearFactor::shared_ptr clone() const override { gtsam::NonlinearFactor::shared_ptr clone() const override {
@ -70,44 +67,43 @@ public:
} }
/// print /// print
void print(const std::string& s = "", const KeyFormatter& keyFormatter = void print(
DefaultKeyFormatter) const override; const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
/// equals /// equals
bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; bool equals(const NonlinearFactor& expected,
double tol = 1e-9) const override;
/// vector of errors /// vector of errors
Vector evaluateError(const Pose3& p, const double& b, Vector evaluateError(
const Pose3& p, const double& b,
boost::optional<Matrix&> H = boost::none, boost::optional<Matrix&> H = boost::none,
boost::optional<Matrix&> H2 = boost::none) const override; boost::optional<Matrix&> H2 = boost::none) const override;
inline const double & measurementIn() const { inline const double& measurementIn() const { return nT_; }
return nT_;
}
inline double heightOut(double n) const { inline double heightOut(double n) const {
//From https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html // From https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
return (std::pow(n/101.29, 1./5.256)*288.08 - 273.1 - 15.04)/-0.00649; return (std::pow(n / 101.29, 1. / 5.256) * 288.08 - 273.1 - 15.04) /
-0.00649;
}; };
inline double baroOut(const double& meters) inline double baroOut(const double& meters) {
{ double temp = 15.04 - 0.00649 * meters;
double temp = 15.04 - 0.00649*meters; return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256);
return 101.29*std::pow(((temp+273.1)/288.08), 5.256);
}; };
private: private:
/// Serialization function /// Serialization function
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template <class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) { void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar ar& boost::serialization::make_nvp(
& boost::serialization::make_nvp("NoiseModelFactor1", "NoiseModelFactor1",
boost::serialization::base_object<Base>(*this)); boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(nT_); ar& BOOST_SERIALIZATION_NVP(nT_);
} }
}; };
} /// namespace gtsam } // namespace gtsam

73
gtsam/navigation/tests/testBarometricFactor.cpp
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@ -16,36 +16,30 @@
* @date 16 Dec, 2021 * @date 16 Dec, 2021
*/ */
#include <gtsam/navigation/BarometricFactor.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <gtsam/navigation/BarometricFactor.h>
#include <boost/bind/bind.hpp> #include <boost/bind/bind.hpp>
#include <CppUnitLite/TestHarness.h>
using namespace std::placeholders; using namespace std::placeholders;
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
// ************************************************************************* // *************************************************************************
namespace example { namespace example {}
}
double metersToBaro(const double& meters)
{
double temp = 15.04 - 0.00649*meters;
return 101.29*std::pow(((temp+273.1)/288.08), 5.256);
double metersToBaro(const double& meters) {
double temp = 15.04 - 0.00649 * meters;
return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256);
} }
// ************************************************************************* // *************************************************************************
TEST( BarometricFactor, Constructor ) { TEST(BarometricFactor, Constructor) {
using namespace example; using namespace example;
//meters to barometric. // meters to barometric.
double baroMeasurement = metersToBaro(10.); double baroMeasurement = metersToBaro(10.);
@ -57,20 +51,23 @@ TEST( BarometricFactor, Constructor ) {
// Create a linearization point at zero error // Create a linearization point at zero error
Pose3 T(Rot3::RzRyRx(0., 0., 0.), Point3(0., 0., 10.)); Pose3 T(Rot3::RzRyRx(0., 0., 0.), Point3(0., 0., 10.));
double baroBias=0.; double baroBias = 0.;
Vector1 zero; Vector1 zero;
zero<< 0.; zero << 0.;
EXPECT(assert_equal(zero, factor.evaluateError(T, baroBias),1e-5)); EXPECT(assert_equal(zero, factor.evaluateError(T, baroBias), 1e-5));
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH = numericalDerivative21<Vector,Pose3, double>( Matrix expectedH = numericalDerivative21<Vector, Pose3, double>(
std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1, std::bind(&BarometricFactor::evaluateError, &factor,
std::placeholders::_2, boost::none, boost::none), T, baroBias); std::placeholders::_1, std::placeholders::_2, boost::none,
boost::none),
Matrix expectedH2 = numericalDerivative22<Vector,Pose3, double>( T, baroBias);
std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1,
std::placeholders::_2, boost::none, boost::none), T, baroBias);
Matrix expectedH2 = numericalDerivative22<Vector, Pose3, double>(
std::bind(&BarometricFactor::evaluateError, &factor,
std::placeholders::_1, std::placeholders::_2, boost::none,
boost::none),
T, baroBias);
// Use the factor to calculate the derivative // Use the factor to calculate the derivative
Matrix actualH, actualH2; Matrix actualH, actualH2;
@ -87,7 +84,7 @@ TEST( BarometricFactor, Constructor ) {
TEST(BarometricFactor, nonZero) { TEST(BarometricFactor, nonZero) {
using namespace example; using namespace example;
//meters to barometric. // meters to barometric.
double baroMeasurement = metersToBaro(10.); double baroMeasurement = metersToBaro(10.);
@ -98,30 +95,30 @@ TEST(BarometricFactor, nonZero) {
BarometricFactor factor(key, key2, baroMeasurement, model); BarometricFactor factor(key, key2, baroMeasurement, model);
Pose3 T(Rot3::RzRyRx(0.5, 1., 1.), Point3(20., 30., 1.)); Pose3 T(Rot3::RzRyRx(0.5, 1., 1.), Point3(20., 30., 1.));
double baroBias=5.; double baroBias = 5.;
// Calculate numerical derivatives // Calculate numerical derivatives
Matrix expectedH = numericalDerivative21<Vector,Pose3, double>( Matrix expectedH = numericalDerivative21<Vector, Pose3, double>(
std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1, std::bind(&BarometricFactor::evaluateError, &factor,
std::placeholders::_2, boost::none, boost::none), T, baroBias); std::placeholders::_1, std::placeholders::_2, boost::none,
boost::none),
T, baroBias);
Matrix expectedH2 = numericalDerivative22<Vector,Pose3, double>( Matrix expectedH2 = numericalDerivative22<Vector, Pose3, double>(
std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1, std::bind(&BarometricFactor::evaluateError, &factor,
std::placeholders::_2, boost::none, boost::none), T, baroBias); std::placeholders::_1, std::placeholders::_2, boost::none,
boost::none),
T, baroBias);
// Use the factor to calculate the derivative and the error // Use the factor to calculate the derivative and the error
Matrix actualH, actualH2; Matrix actualH, actualH2;
Vector error = factor.evaluateError(T, baroBias, actualH, actualH2); Vector error = factor.evaluateError(T, baroBias, actualH, actualH2);
Vector actual = (Vector(1) <<-4.0).finished(); Vector actual = (Vector(1) << -4.0).finished();
// Verify we get the expected error // Verify we get the expected error
EXPECT(assert_equal(expectedH, actualH, 1e-8)); EXPECT(assert_equal(expectedH, actualH, 1e-8));
EXPECT(assert_equal(expectedH2, actualH2, 1e-8)); EXPECT(assert_equal(expectedH2, actualH2, 1e-8));
EXPECT(assert_equal(error, actual , 1e-8)); EXPECT(assert_equal(error, actual, 1e-8));
} }
// ************************************************************************* // *************************************************************************