74 lines
2.2 KiB
C++
74 lines
2.2 KiB
C++
//
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// Created by Scott on 4/18/2025.
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//
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#include <gtsam/nonlinear/LIEKF.h>
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#include <gtsam/geometry/Pose2.h>
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#include <iostream>
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using namespace std;
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using namespace gtsam;
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// Measurement Processor
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Vector2 h_gps(const Pose2& X,
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OptionalJacobian<2,3> H = {}) {
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return X.translation(H);
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}
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int main() {
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static const int dim = traits<Pose2>::dimension;
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// Initialization
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Pose2 X0(0.0, 0.0, 0.0);
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Matrix3 P0 = Matrix3::Identity() * 0.1;
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double dt = 1.0;
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// Define GPS measurements
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Matrix23 H;
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h_gps(X0, H);
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Vector2 z1, z2;
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z1 << 1.0, 0.0;
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z2 << 1.0, 1.0;
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std::function<Vector2(const Pose2&, gtsam::OptionalJacobian<2, 3>)> measurement_function = h_gps;
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LIEKF<Pose2, Vector2> ekf(X0, P0, measurement_function);
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// Define Covariances
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Matrix3 Q = (Vector3(0.05, 0.05, 0.001)).asDiagonal();
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Matrix2 R = (Vector2(0.01, 0.01)).asDiagonal();
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// Define odometry movements
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Pose2 U1(1.0,1.0,0.5), U2(1.0,1.0,0.0);
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// Define a transformation matrix to convert the covariance into (theta, x, y) form.
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Matrix3 TransformP;
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TransformP << 0, 0, 1,
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1,0,0,
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0,1,0;
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// Predict / update stages
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cout << "\nInitialization:\n";
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cout << "X0: " << ekf.getState() << endl;
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cout << "P0: " << TransformP * ekf.getCovariance() * TransformP.transpose() << endl;
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ekf.predict(U1, Q);
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cout << "\nFirst Prediction:\n";
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cout << "X: " << ekf.getState() << endl;
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cout << "P: " << TransformP * ekf.getCovariance() * TransformP.transpose() << endl;
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ekf.update(z1, R);
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cout << "\nFirst Update:\n";
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cout << "X: " << ekf.getState() << endl;
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cout << "P: " << TransformP * ekf.getCovariance() * TransformP.transpose() << endl;
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ekf.predict(U2, Q);
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cout << "\nSecond Prediction:\n";
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cout << "X: " << ekf.getState() << endl;
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cout << "P: " << TransformP * ekf.getCovariance() * TransformP.transpose() << endl;
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ekf.update(z2, R);
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cout << "\nSecond Update:\n";
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cout << "X: " << ekf.getState() << endl;
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cout << "P: " << TransformP * ekf.getCovariance() * TransformP.transpose() << endl;
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return 0;
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} |