27 lines
1.2 KiB
Matlab
27 lines
1.2 KiB
Matlab
function [ finalPose, finalVelocityGlobal ] = integrateIMUTrajectory_bodyFrame( ...
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initialPoseGlobal, initialVelocityGlobal, acc_omegaIMU, deltaT, velocity1Body)
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% Before integrating in the body frame we need to compensate for the Coriolis
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% effect
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acc_body = acc_omegaIMU(1:3) - Point3(cross(acc_omegaIMU(4:6), velocity1Body)).vector;
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% after compensating for coriolis this will be essentially zero
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% since we are moving at constant body velocity
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import gtsam.*;
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%% Integrate in the body frame
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% Integrate rotations
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imu2in1 = Rot3.Expmap(acc_omegaIMU(4:6) * deltaT);
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% Integrate positions
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finalPositionBody = velocity1Body * deltaT + 0.5 * acc_body * deltaT * deltaT;
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finalVelocityBody = velocity1Body + acc_body * deltaT;
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%% Express the integrated quantities in the global frame
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finalVelocityGlobal = initialVelocityGlobal + (initialPoseGlobal.rotation().rotate(Point3(finalVelocityBody)).vector() );
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finalPosition = initialPoseGlobal.translation().vector() + initialPoseGlobal.rotation().rotate( Point3(finalPositionBody)).vector() ;
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finalRotation = initialPoseGlobal.rotation.compose(imu2in1);
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% Include position and rotation in a pose
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finalPose = Pose3(finalRotation, Point3(finalPosition) );
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end
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