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Additional output messages and trajectory length calculations

release/4.3a0
djensen3 2014-02-12 13:16:44 -05:00
parent 38e0e411fb
commit e43ece27ee
1 changed files with 53 additions and 7 deletions
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60
matlab/unstable_examples/+imuSimulator/coriolisExample.m
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@ -17,19 +17,25 @@ import gtsam.*;
addpath(genpath('./Libraries')) addpath(genpath('./Libraries'))
%% General configuration %% General configuration
navFrameRotating = 0; navFrameRotating = 1; % 0 = perform navigation in the fixed frame
deltaT = 0.01; % 1 = perform navigation in the rotating frame
timeElapsed = 5; IMU_type = 1; % IMU type 1 or type 2
useRealisticValues = 0; % use reaslist values for initial position and earth rotation
record_movie = 0; % 0 = do not record movie
% 1 = record movie of the trajectories. One
% frame per time step (15 fps)
%% Scenario Configuration
deltaT = 0.01; % timestep
timeElapsed = 5; % Total elapsed time
times = 0:deltaT:timeElapsed; times = 0:deltaT:timeElapsed;
IMU_type = 1;
record_movie = 0;
omegaEarthSeconds = 100*[0;0;7.292115e-5]; % Earth Rotation omegaEarthSeconds = 100*[0;0;7.292115e-5]; % Earth Rotation
% omegaRotatingFrame = omegaEarthSeconds/deltaT;%[0;0;pi/3000]; % rotation of the moving frame wrt fixed frame % omegaRotatingFrame = omegaEarthSeconds/deltaT;%[0;0;pi/3000]; % rotation of the moving frame wrt fixed frame
omegaRotatingFrame = [0;0;pi/300]; omegaRotatingFrame = [0;0;pi/300];
currentRotatingFrame = Pose3; % initially coincide with fixed frame currentRotatingFrame = Pose3; % initially coincide with fixed frame
omegaFixed = [0;0;0]; % constant rotation rate measurement omegaFixed = [0;0;0]; % constant rotation rate measurement
accelFixed =10 * [0;0;0.1]; % constant acceleration measurement accelFixed =10 * [0.1;0.1;0.1]; % constant acceleration measurement
g = [0;0;0]; % Gravity g = [0;0;0]; % Gravity
if navFrameRotating == 0 if navFrameRotating == 0
@ -86,6 +92,24 @@ if record_movie == 1
set(gcf,'Renderer','zbuffer'); set(gcf,'Renderer','zbuffer');
end end
%% Print Info about the test
fprintf('\n-------------------------------------------------');
if navFrameRotating == 0
fprintf('Performing navigation in the Fixed frame.\n');
else
fprintf('\nPerforming navigation in the Rotating frame.\n');
end
fprintf('IMU_type = %d\n', IMU_type);
fprintf('Record Movie = %d\n', record_movie);
fprintf('Realistic Values = %d\n', useRealisticValues);
fprintf('deltaT = %f\n', deltaT);
fprintf('timeElapsed = %f\n', timeElapsed);
fprintf('omegaRotatingFrame = [%f %f %f]\n', omegaRotatingFrame(1), omegaRotatingFrame(2), omegaRotatingFrame(3));
fprintf('omegaFixed = [%f %f %f]\n', omegaFixed(1), omegaFixed(2), omegaFixed(3));
fprintf('accelFixed = [%f %f %f]\n', accelFixed(1), accelFixed(2), accelFixed(3));
fprintf('Initial Velocity = [%f %f %f]\n', velocity(1), velocity(2), velocity(3));
fprintf('Initial Position = [%f %f %f]\n', initialPosition(1), initialPosition(2), initialPosition(3));
fprintf('\n');
%% Main loop: iterate through the ground truth trajectory, add factors %% Main loop: iterate through the ground truth trajectory, add factors
% and values to the factor graph, and perform inference % and values to the factor graph, and perform inference
for i = 1:length(times) for i = 1:length(times)
@ -251,6 +275,16 @@ if record_movie == 1
close(writerObj); close(writerObj);
end end
% Calculate trajectory length
trajectoryLengthEstimated = 0;
trajectoryLengthFixedFrameGT = 0;
trajectoryLengthRotatingFrameGT = 0;
for i = 2:length(positionsEstimates)
trajectoryLengthEstimated = trajectoryLengthEstimated + norm(positionsEstimates(:,i) - positionsEstimates(:,i-1));
trajectoryLengthFixedFrameGT = trajectoryLengthFixedFrameGT + norm(positionsInFixedGT(:,i) - positionsInFixedGT(:,i-1));
trajectoryLengthRotatingFrameGT = trajectoryLengthRotatingFrameGT + norm(positionsInRotatingGT(:,i) - positionsInRotatingGT(:,i-1));
end
figure figure
%% Print and plot trajectory error results %% Print and plot trajectory error results
if navFrameRotating == 0 if navFrameRotating == 0
@ -274,7 +308,19 @@ plotTitle = sprintf('3D Error in Estimated Position\n(IMU type = %d, omega = [%.
title(plotTitle); title(plotTitle);
xlabel('Time'); xlabel('Time');
ylabel('3D error [meters]'); ylabel('3D error [meters]');
fprintf('Final position error = %f\n', norm(axisPositionsError(:,end)));
if navFrameRotating == 0
fprintf('Fixed Frame ground truth trajectory length is %f [m]\n', trajectoryLengthFixedFrameGT);
fprintf('Estimated trajectory length is %f [m]\n', trajectoryLengthEstimated);
fprintf('Final position error = %f (%.4f%% of ground truth trajectory length)\n', ...
norm(axisPositionsError(:,end)), norm(axisPositionsError(:,end))/trajectoryLengthFixedFrameGT*100);
else
fprintf('Rotating Frame ground truth trajectory length is %f [m]\n', trajectoryLengthRotatingFrameGT);
fprintf('Estimated trajectory length is %f [m]\n', trajectoryLengthEstimated);
fprintf('Final position error = %f (%.4f%% of ground truth trajectory length)\n', ...
norm(axisPositionsError(:,end)), norm(axisPositionsError(:,end))/trajectoryLengthRotatingFrameGT*100);
end
%% Plot final trajectories %% Plot final trajectories
figure figure