109 lines
4.8 KiB
C++
109 lines
4.8 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam_unstable/slam/MagPoseFactor.h>
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using namespace gtsam;
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// Magnetic field in the nav frame (NED), with units of nT.
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Point3 nM(22653.29982, -1956.83010, 44202.47862);
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// Assumed scale factor (scales a unit vector to magnetometer units of nT).
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double scale = 255.0 / 50000.0;
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// Ground truth Pose2/Pose3 in the nav frame.
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Pose3 n_P3_b = Pose3(Rot3::Yaw(-0.1), Point3(-3, 12, 5));
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Pose2 n_P2_b = Pose2(Rot2(-0.1), Point2(-3, 12));
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Rot3 nRb = n_P3_b.rotation();
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Rot2 theta = n_P2_b.rotation();
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// Sensor bias (nT).
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Point3 bias3(10, -10, 50);
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Point2 bias2 = bias3.head(2);
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// double s(scale * nM.norm());
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Point2 dir2(nM.head(2).normalized());
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Point3 dir3(nM.normalized());
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// Compute the measured field in the sensor frame.
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Point3 measured3 = nRb.inverse() * (scale * dir3) + bias3;
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// The 2D magnetometer will measure the "NE" field components.
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Point2 measured2 = theta.inverse() * (scale * dir2) + bias2;
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SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.25);
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SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.25);
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// Make up a rotation and offset of the sensor in the body frame.
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Pose2 body_P2_sensor(Rot2(-0.30), Point2(1, -2));
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Pose3 body_P3_sensor(Rot3::RzRyRx(Vector3(0.4, 0.1, -0.15)), Point3(-0.1, 0.2, 0.3));
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// *****************************************************************************
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TEST(MagPoseFactor, Constructors) {
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MagPoseFactor<Pose2> f2a(Symbol('X', 0), measured2, scale, dir2, bias2, model2, boost::none);
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MagPoseFactor<Pose3> f3a(Symbol('X', 0), measured3, scale, dir3, bias3, model3, boost::none);
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// Try constructing with a body_P_sensor set.
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MagPoseFactor<Pose2> f2b = MagPoseFactor<Pose2>(Symbol('X', 0), measured2, scale, dir2, bias2, model2, body_P2_sensor);
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MagPoseFactor<Pose3> f3b = MagPoseFactor<Pose3>(Symbol('X', 0), measured3, scale, dir3, bias3, model3, body_P3_sensor);
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}
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// *****************************************************************************
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TEST(MagPoseFactor, JacobianPose2) {
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Matrix H2;
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// Error should be zero at the groundtruth pose.
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MagPoseFactor<Pose2> f2a(Symbol('X', 0), measured2, scale, dir2, bias2, model2, boost::none);
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CHECK(gtsam::assert_equal(Z_2x1, f2a.evaluateError(n_P2_b, H2), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose2> //
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(boost::bind(&MagPoseFactor<Pose2>::evaluateError, &f2a, _1, boost::none), n_P2_b), H2, 1e-7));
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// Now test with a body_P_sensor specified, which means the raw measurement
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// must be rotated into the sensor frame.
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MagPoseFactor<Pose2> f2b = MagPoseFactor<Pose2>(Symbol('X', 0),
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body_P2_sensor.rotation().inverse() * measured2, scale, dir2, bias2, model2, body_P2_sensor);
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CHECK(gtsam::assert_equal(Z_2x1, f2b.evaluateError(n_P2_b, H2), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose2> //
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(boost::bind(&MagPoseFactor<Pose2>::evaluateError, &f2b, _1, boost::none), n_P2_b), H2, 1e-7));
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}
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// *****************************************************************************
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TEST(MagPoseFactor, JacobianPose3) {
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Matrix H3;
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// Error should be zero at the groundtruth pose.
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MagPoseFactor<Pose3> f3a(Symbol('X', 0), measured3, scale, dir3, bias3, model3, boost::none);
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CHECK(gtsam::assert_equal(Z_3x1, f3a.evaluateError(n_P3_b, H3), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose3> //
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(boost::bind(&MagPoseFactor<Pose3>::evaluateError, &f3a, _1, boost::none), n_P3_b), H3, 1e-7));
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// Now test with a body_P_sensor specified, which means the raw measurement
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// must be rotated into the sensor frame.
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MagPoseFactor<Pose3> f3b = MagPoseFactor<Pose3>(Symbol('X', 0),
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body_P3_sensor.rotation().inverse() * measured3, scale, dir3, bias3, model3, boost::none);
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CHECK(gtsam::assert_equal(Z_3x1, f3b.evaluateError(n_P3_b, H3), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose3> //
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(boost::bind(&MagPoseFactor<Pose3>::evaluateError, &f3b, _1, boost::none), n_P3_b), H3, 1e-7));
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}
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// *****************************************************************************
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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// *****************************************************************************
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