35 lines
988 B
Matlab
35 lines
988 B
Matlab
import gtsam.*;
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deltaT = 0.01;
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timeElapsed = 1000;
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times = 0:deltaT:timeElapsed;
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% Constant global velocity w/ lever arm
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disp('--------------------------------------------------------');
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disp('Constant global velocity w/ lever arm');
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omega = [0;0;0.1];
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velocity = [1;0;0];
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% Initial state
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currentPoseGlobal = Pose3;
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currentVelocityGlobal = velocity;
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% Positions
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positions = zeros(3, length(times)+1);
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i = 2;
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for t = times
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velocity1body = currentPoseGlobal.rotation.unrotate(Point3(currentVelocityGlobal));
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R = Rot3.Expmap(omega * deltaT);
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velocity2body = currentPoseGlobal.rotation.compose(R).unrotate(Point3(currentVelocityGlobal));
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[ currentPoseGlobal, currentVelocityGlobal ] = imuSimulator.integrateTrajectory(currentPoseGlobal, omega, velocity1body, velocity2body, deltaT);
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positions(:,i) = currentPoseGlobal.translation;
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i = i + 1;
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end
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figure;
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plot(positions(1,:), positions(2,:), '.-');
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