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Remove ugly preprocessor directives, still hardcoded though

release/4.3a0
Toni 2019-12-18 21:48:38 -05:00
parent 0cb32d7c24
commit e0fb001702
1 changed files with 33 additions and 27 deletions
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60
examples/ImuFactorsExample.cpp
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@ -43,9 +43,6 @@
#include <fstream>
#include <iostream>
// Uncomment line below to use the CombinedIMUFactor as opposed to the standard ImuFactor.
// #define USE_COMBINED
using namespace gtsam;
using namespace std;
@ -139,11 +136,16 @@ int main(int argc, char* argv[])
p->biasOmegaCovariance = bias_omega_cov; // gyro bias in continuous
p->biasAccOmegaInt = bias_acc_omega_int;
#ifdef USE_COMBINED
imu_preintegrated_ = new PreintegratedCombinedMeasurements(p, prior_imu_bias);
#else
imu_preintegrated_ = new PreintegratedImuMeasurements(p, prior_imu_bias);
#endif
static constexpr bool use_combined_preint = false;
std::shared_ptr<PreintegrationType> imu_preintegrated_ = nullptr;
if (use_combined_preint) {
imu_preintegrated_ =
std::make_shared<PreintegratedCombinedMeasurements>(p, prior_imu_bias);
} else {
imu_preintegrated_ =
std::make_shared<PreintegratedImuMeasurements>(p, prior_imu_bias);
}
assert(imu_preintegrated_);
// Store previous state for the imu integration and the latest predicted outcome.
NavState prev_state(prior_pose, prior_velocity);
@ -188,25 +190,29 @@ int main(int argc, char* argv[])
correction_count++;
// Adding IMU factor and GPS factor and optimizing.
#ifdef USE_COMBINED
PreintegratedCombinedMeasurements *preint_imu_combined = dynamic_cast<PreintegratedCombinedMeasurements*>(imu_preintegrated_);
CombinedImuFactor imu_factor(X(correction_count-1), V(correction_count-1),
X(correction_count ), V(correction_count ),
B(correction_count-1), B(correction_count ),
*preint_imu_combined);
graph->add(imu_factor);
#else
PreintegratedImuMeasurements *preint_imu = dynamic_cast<PreintegratedImuMeasurements*>(imu_preintegrated_);
ImuFactor imu_factor(X(correction_count-1), V(correction_count-1),
X(correction_count ), V(correction_count ),
B(correction_count-1),
*preint_imu);
graph->add(imu_factor);
imuBias::ConstantBias zero_bias(Vector3(0, 0, 0), Vector3(0, 0, 0));
graph->add(BetweenFactor<imuBias::ConstantBias>(B(correction_count-1),
B(correction_count ),
zero_bias, bias_noise_model));
#endif
if (use_combined_preint) {
const PreintegratedCombinedMeasurements& preint_imu_combined =
dynamic_cast<const PreintegratedCombinedMeasurements&>(
*imu_preintegrated_);
CombinedImuFactor imu_factor(X(correction_count-1), V(correction_count-1),
X(correction_count ), V(correction_count ),
B(correction_count-1), B(correction_count ),
preint_imu_combined);
graph->add(imu_factor);
} else {
const PreintegratedImuMeasurements& preint_imu =
dynamic_cast<const PreintegratedImuMeasurements&>(
*imu_preintegrated_);
ImuFactor imu_factor(X(correction_count-1), V(correction_count-1),
X(correction_count ), V(correction_count ),
B(correction_count-1),
preint_imu);
graph->add(imu_factor);
imuBias::ConstantBias zero_bias(Vector3(0, 0, 0), Vector3(0, 0, 0));
graph->add(BetweenFactor<imuBias::ConstantBias>(B(correction_count-1),
B(correction_count ),
zero_bias, bias_noise_model));
}
noiseModel::Diagonal::shared_ptr correction_noise = noiseModel::Isotropic::Sigma(3,1.0);
GPSFactor gps_factor(X(correction_count),