514 lines
18 KiB
C++
514 lines
18 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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/**
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* @file testAHRSFactor.cpp
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* @brief Unit test for AHRSFactor
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* @author Krunal Chande
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* @author Luca Carlone
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* @author Frank Dellaert
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* @author Varun Agrawal
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*/
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#include <gtsam/navigation/AHRSFactor.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/debug.h>
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#include <CppUnitLite/TestHarness.h>
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#include <list>
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using namespace std::placeholders;
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using namespace std;
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using namespace gtsam;
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::V;
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using symbol_shorthand::B;
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Vector3 kZeroOmegaCoriolis(0,0,0);
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// Define covariance matrices
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double accNoiseVar = 0.01;
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const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3;
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//******************************************************************************
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namespace {
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Vector callEvaluateError(const AHRSFactor& factor, const Rot3 rot_i,
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const Rot3 rot_j, const Vector3& bias) {
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return factor.evaluateError(rot_i, rot_j, bias);
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}
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Rot3 evaluateRotationError(const AHRSFactor& factor, const Rot3 rot_i,
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const Rot3 rot_j, const Vector3& bias) {
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return Rot3::Expmap(factor.evaluateError(rot_i, rot_j, bias).tail(3));
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}
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PreintegratedAhrsMeasurements evaluatePreintegratedMeasurements(
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const Vector3& bias, const list<Vector3>& measuredOmegas,
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const list<double>& deltaTs,
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const Vector3& initialRotationRate = Vector3::Zero()) {
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PreintegratedAhrsMeasurements result(bias, I_3x3);
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list<Vector3>::const_iterator itOmega = measuredOmegas.begin();
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list<double>::const_iterator itDeltaT = deltaTs.begin();
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for (; itOmega != measuredOmegas.end(); ++itOmega, ++itDeltaT) {
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result.integrateMeasurement(*itOmega, *itDeltaT);
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}
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return result;
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}
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Rot3 evaluatePreintegratedMeasurementsRotation(
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const Vector3& bias, const list<Vector3>& measuredOmegas,
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const list<double>& deltaTs,
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const Vector3& initialRotationRate = Vector3::Zero()) {
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return Rot3(
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evaluatePreintegratedMeasurements(bias, measuredOmegas, deltaTs,
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initialRotationRate).deltaRij());
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}
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Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega,
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const double deltaT) {
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return Rot3::Expmap((measuredOmega - biasOmega) * deltaT);
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}
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Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta) {
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return Rot3::Logmap(Rot3::Expmap(thetahat).compose(Rot3::Expmap(deltatheta)));
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}
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}
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//******************************************************************************
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TEST( AHRSFactor, PreintegratedAhrsMeasurements ) {
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// Linearization point
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Vector3 bias(0,0,0); ///< Current estimate of angular rate bias
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// Measurements
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Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
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double deltaT = 0.5;
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// Expected preintegrated values
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Rot3 expectedDeltaR1 = Rot3::RzRyRx(0.5 * M_PI / 100.0, 0.0, 0.0);
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double expectedDeltaT1(0.5);
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// Actual preintegrated values
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PreintegratedAhrsMeasurements actual1(bias, Z_3x3);
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actual1.integrateMeasurement(measuredOmega, deltaT);
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EXPECT(assert_equal(expectedDeltaR1, Rot3(actual1.deltaRij()), 1e-6));
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DOUBLES_EQUAL(expectedDeltaT1, actual1.deltaTij(), 1e-6);
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// Integrate again
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Rot3 expectedDeltaR2 = Rot3::RzRyRx(2.0 * 0.5 * M_PI / 100.0, 0.0, 0.0);
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double expectedDeltaT2(1);
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// Actual preintegrated values
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PreintegratedAhrsMeasurements actual2 = actual1;
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actual2.integrateMeasurement(measuredOmega, deltaT);
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EXPECT(assert_equal(expectedDeltaR2, Rot3(actual2.deltaRij()), 1e-6));
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DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-6);
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}
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//******************************************************************************
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TEST( AHRSFactor, PreintegratedAhrsMeasurementsConstructor ) {
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Matrix3 gyroscopeCovariance = Matrix3::Ones()*0.4;
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Vector3 omegaCoriolis(0.1, 0.5, 0.9);
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PreintegratedRotationParams params(gyroscopeCovariance, omegaCoriolis);
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Vector3 bias(1.0,2.0,3.0); ///< Current estimate of angular rate bias
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Rot3 deltaRij(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0));
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double deltaTij = 0.02;
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Matrix3 delRdelBiasOmega = Matrix3::Ones()*0.5;
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Matrix3 preintMeasCov = Matrix3::Ones()*0.2;
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PreintegratedAhrsMeasurements actualPim(
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boost::make_shared<PreintegratedRotationParams>(params),
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bias,
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deltaTij,
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deltaRij,
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delRdelBiasOmega,
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preintMeasCov);
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EXPECT(assert_equal(gyroscopeCovariance,
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actualPim.p().getGyroscopeCovariance(), 1e-6));
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EXPECT(assert_equal(omegaCoriolis,
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actualPim.p().getOmegaCoriolis().get(), 1e-6));
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EXPECT(assert_equal(bias, actualPim.biasHat(), 1e-6));
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DOUBLES_EQUAL(deltaTij, actualPim.deltaTij(), 1e-6);
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EXPECT(assert_equal(deltaRij, Rot3(actualPim.deltaRij()), 1e-6));
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EXPECT(assert_equal(delRdelBiasOmega, actualPim.delRdelBiasOmega(), 1e-6));
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EXPECT(assert_equal(preintMeasCov, actualPim.preintMeasCov(), 1e-6));
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}
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/* ************************************************************************* */
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TEST(AHRSFactor, Error) {
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// Linearization point
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Vector3 bias(0.,0.,0.); // Bias
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Rot3 x1(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0));
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Rot3 x2(Rot3::RzRyRx(M_PI / 12.0 + M_PI / 100.0, M_PI / 6.0, M_PI / 4.0));
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// Measurements
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Vector3 measuredOmega;
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measuredOmega << M_PI / 100, 0, 0;
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double deltaT = 1.0;
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PreintegratedAhrsMeasurements pim(bias, Z_3x3);
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pim.integrateMeasurement(measuredOmega, deltaT);
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// Create factor
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AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis, boost::none);
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Vector3 errorActual = factor.evaluateError(x1, x2, bias);
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// Expected error
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Vector3 errorExpected(3);
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errorExpected << 0, 0, 0;
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EXPECT(assert_equal(Vector(errorExpected), Vector(errorActual), 1e-6));
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// Expected Jacobians
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Matrix H1e = numericalDerivative11<Vector3, Rot3>(
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std::bind(&callEvaluateError, factor, std::placeholders::_1, x2, bias), x1);
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Matrix H2e = numericalDerivative11<Vector3, Rot3>(
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std::bind(&callEvaluateError, factor, x1, std::placeholders::_1, bias), x2);
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Matrix H3e = numericalDerivative11<Vector3, Vector3>(
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std::bind(&callEvaluateError, factor, x1, x2, std::placeholders::_1), bias);
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// Check rotation Jacobians
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Matrix RH1e = numericalDerivative11<Rot3, Rot3>(
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std::bind(&evaluateRotationError, factor, std::placeholders::_1, x2, bias), x1);
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Matrix RH2e = numericalDerivative11<Rot3, Rot3>(
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std::bind(&evaluateRotationError, factor, x1, std::placeholders::_1, bias), x2);
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// Actual Jacobians
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Matrix H1a, H2a, H3a;
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(void) factor.evaluateError(x1, x2, bias, H1a, H2a, H3a);
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// rotations
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EXPECT(assert_equal(RH1e, H1a, 1e-5));
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// 1e-5 needs to be added only when using quaternions for rotations
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EXPECT(assert_equal(H2e, H2a, 1e-5));
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// rotations
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EXPECT(assert_equal(RH2e, H2a, 1e-5));
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// 1e-5 needs to be added only when using quaternions for rotations
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EXPECT(assert_equal(H3e, H3a, 1e-5));
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// 1e-5 needs to be added only when using quaternions for rotations
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}
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/* ************************************************************************* */
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TEST(AHRSFactor, ErrorWithBiases) {
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// Linearization point
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Vector3 bias(0, 0, 0.3);
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Rot3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)));
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Rot3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)));
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// Measurements
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Vector3 measuredOmega;
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measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
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double deltaT = 1.0;
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PreintegratedAhrsMeasurements pim(Vector3(0,0,0),
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Z_3x3);
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pim.integrateMeasurement(measuredOmega, deltaT);
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// Create factor
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AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis);
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Vector errorActual = factor.evaluateError(x1, x2, bias);
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// Expected error
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Vector errorExpected(3);
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errorExpected << 0, 0, 0;
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EXPECT(assert_equal(errorExpected, errorActual, 1e-6));
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// Expected Jacobians
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Matrix H1e = numericalDerivative11<Vector, Rot3>(
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std::bind(&callEvaluateError, factor, std::placeholders::_1, x2, bias), x1);
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Matrix H2e = numericalDerivative11<Vector, Rot3>(
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std::bind(&callEvaluateError, factor, x1, std::placeholders::_1, bias), x2);
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Matrix H3e = numericalDerivative11<Vector, Vector3>(
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std::bind(&callEvaluateError, factor, x1, x2, std::placeholders::_1), bias);
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// Check rotation Jacobians
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Matrix RH1e = numericalDerivative11<Rot3, Rot3>(
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std::bind(&evaluateRotationError, factor, std::placeholders::_1, x2, bias), x1);
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Matrix RH2e = numericalDerivative11<Rot3, Rot3>(
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std::bind(&evaluateRotationError, factor, x1, std::placeholders::_1, bias), x2);
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Matrix RH3e = numericalDerivative11<Rot3, Vector3>(
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std::bind(&evaluateRotationError, factor, x1, x2, std::placeholders::_1), bias);
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// Actual Jacobians
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Matrix H1a, H2a, H3a;
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(void) factor.evaluateError(x1, x2, bias, H1a, H2a, H3a);
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EXPECT(assert_equal(H1e, H1a));
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EXPECT(assert_equal(H2e, H2a));
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EXPECT(assert_equal(H3e, H3a));
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}
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//******************************************************************************
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TEST( AHRSFactor, PartialDerivativeExpmap ) {
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// Linearization point
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Vector3 biasOmega(0,0,0);
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// Measurements
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Vector3 measuredOmega;
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measuredOmega << 0.1, 0, 0;
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double deltaT = 0.5;
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// Compute numerical derivatives
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Matrix expectedDelRdelBiasOmega = numericalDerivative11<Rot3, Vector3>(
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std::bind(&evaluateRotation, measuredOmega, std::placeholders::_1, deltaT), biasOmega);
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const Matrix3 Jr = Rot3::ExpmapDerivative(
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(measuredOmega - biasOmega) * deltaT);
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Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign
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// Compare Jacobians
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EXPECT(assert_equal(expectedDelRdelBiasOmega, actualdelRdelBiasOmega, 1e-3));
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// 1e-3 needs to be added only when using quaternions for rotations
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}
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//******************************************************************************
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TEST( AHRSFactor, PartialDerivativeLogmap ) {
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// Linearization point
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Vector3 thetahat;
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thetahat << 0.1, 0.1, 0; ///< Current estimate of rotation rate bias
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// Measurements
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Vector3 deltatheta;
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deltatheta << 0, 0, 0;
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// Compute numerical derivatives
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Matrix expectedDelFdeltheta = numericalDerivative11<Vector3, Vector3>(
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std::bind(&evaluateLogRotation, thetahat, std::placeholders::_1), deltatheta);
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const Vector3 x = thetahat; // parametrization of so(3)
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const Matrix3 X = skewSymmetric(x); // element of Lie algebra so(3): X = x^
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double normx = x.norm();
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const Matrix3 actualDelFdeltheta = I_3x3 + 0.5 * X
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+ (1 / (normx * normx) - (1 + cos(normx)) / (2 * normx * sin(normx))) * X
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* X;
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// Compare Jacobians
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EXPECT(assert_equal(expectedDelFdeltheta, actualDelFdeltheta));
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}
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//******************************************************************************
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TEST( AHRSFactor, fistOrderExponential ) {
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// Linearization point
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Vector3 biasOmega(0,0,0);
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// Measurements
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Vector3 measuredOmega;
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measuredOmega << 0.1, 0, 0;
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double deltaT = 1.0;
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// change w.r.t. linearization point
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double alpha = 0.0;
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Vector3 deltabiasOmega;
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deltabiasOmega << alpha, alpha, alpha;
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const Matrix3 Jr = Rot3::ExpmapDerivative(
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(measuredOmega - biasOmega) * deltaT);
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Matrix3 delRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign
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const Matrix expectedRot = Rot3::Expmap(
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(measuredOmega - biasOmega - deltabiasOmega) * deltaT).matrix();
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const Matrix3 hatRot =
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Rot3::Expmap((measuredOmega - biasOmega) * deltaT).matrix();
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const Matrix3 actualRot = hatRot
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* Rot3::Expmap(delRdelBiasOmega * deltabiasOmega).matrix();
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// Compare Jacobians
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EXPECT(assert_equal(expectedRot, actualRot));
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}
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//******************************************************************************
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TEST( AHRSFactor, FirstOrderPreIntegratedMeasurements ) {
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// Linearization point
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Vector3 bias = Vector3::Zero(); ///< Current estimate of rotation rate bias
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Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1));
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// Measurements
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list<Vector3> measuredOmegas;
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list<double> deltaTs;
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measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0));
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deltaTs.push_back(0.01);
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measuredOmegas.push_back(Vector3(M_PI / 100.0, 0.0, 0.0));
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deltaTs.push_back(0.01);
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for (int i = 1; i < 100; i++) {
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measuredOmegas.push_back(
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Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0));
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deltaTs.push_back(0.01);
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}
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// Actual preintegrated values
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PreintegratedAhrsMeasurements preintegrated =
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evaluatePreintegratedMeasurements(bias, measuredOmegas, deltaTs,
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Vector3(M_PI / 100.0, 0.0, 0.0));
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// Compute numerical derivatives
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Matrix expectedDelRdelBias =
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numericalDerivative11<Rot3, Vector3>(
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std::bind(&evaluatePreintegratedMeasurementsRotation, std::placeholders::_1,
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measuredOmegas, deltaTs, Vector3(M_PI / 100.0, 0.0, 0.0)), bias);
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Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3);
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// Compare Jacobians
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EXPECT(
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assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(), 1e-3));
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// 1e-3 needs to be added only when using quaternions for rotations
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}
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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//******************************************************************************
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TEST( AHRSFactor, ErrorWithBiasesAndSensorBodyDisplacement ) {
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Vector3 bias(0, 0, 0.3);
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Rot3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)));
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Rot3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)));
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// Measurements
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Vector3 omegaCoriolis;
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omegaCoriolis << 0, 0.1, 0.1;
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Vector3 measuredOmega;
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measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
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double deltaT = 1.0;
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const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)),
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Point3(1, 0, 0));
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PreintegratedAhrsMeasurements pim(Vector3::Zero(), kMeasuredAccCovariance);
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pim.integrateMeasurement(measuredOmega, deltaT);
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// Check preintegrated covariance
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EXPECT(assert_equal(kMeasuredAccCovariance, pim.preintMeasCov()));
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// Create factor
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AHRSFactor factor(X(1), X(2), B(1), pim, omegaCoriolis);
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// Expected Jacobians
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Matrix H1e = numericalDerivative11<Vector, Rot3>(
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std::bind(&callEvaluateError, factor, std::placeholders::_1, x2, bias), x1);
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Matrix H2e = numericalDerivative11<Vector, Rot3>(
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std::bind(&callEvaluateError, factor, x1, std::placeholders::_1, bias), x2);
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Matrix H3e = numericalDerivative11<Vector, Vector3>(
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std::bind(&callEvaluateError, factor, x1, x2, std::placeholders::_1), bias);
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// Check rotation Jacobians
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Matrix RH1e = numericalDerivative11<Rot3, Rot3>(
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std::bind(&evaluateRotationError, factor, std::placeholders::_1, x2, bias), x1);
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Matrix RH2e = numericalDerivative11<Rot3, Rot3>(
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std::bind(&evaluateRotationError, factor, x1, std::placeholders::_1, bias), x2);
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Matrix RH3e = numericalDerivative11<Rot3, Vector3>(
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std::bind(&evaluateRotationError, factor, x1, x2, std::placeholders::_1), bias);
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// Actual Jacobians
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Matrix H1a, H2a, H3a;
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(void) factor.evaluateError(x1, x2, bias, H1a, H2a, H3a);
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EXPECT(assert_equal(H1e, H1a));
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EXPECT(assert_equal(H2e, H2a));
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EXPECT(assert_equal(H3e, H3a));
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}
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//******************************************************************************
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TEST (AHRSFactor, predictTest) {
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Vector3 bias(0,0,0);
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// Measurements
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Vector3 measuredOmega;
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measuredOmega << 0, 0, M_PI / 10.0;
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double deltaT = 0.2;
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PreintegratedAhrsMeasurements pim(bias, kMeasuredAccCovariance);
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for (int i = 0; i < 1000; ++i) {
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pim.integrateMeasurement(measuredOmega, deltaT);
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}
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// Check preintegrated covariance
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Matrix expectedMeasCov(3,3);
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expectedMeasCov = 200*kMeasuredAccCovariance;
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EXPECT(assert_equal(expectedMeasCov, pim.preintMeasCov()));
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AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis);
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// Predict
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Rot3 x;
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Rot3 expectedRot = Rot3::Ypr(20*M_PI, 0, 0);
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Rot3 actualRot = factor.predict(x, bias, pim, kZeroOmegaCoriolis);
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EXPECT(assert_equal(expectedRot, actualRot, 1e-6));
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// PreintegratedAhrsMeasurements::predict
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Matrix expectedH = numericalDerivative11<Vector3, Vector3>(
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std::bind(&PreintegratedAhrsMeasurements::predict,
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&pim, std::placeholders::_1, boost::none), bias);
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// Actual Jacobians
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Matrix H;
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(void) pim.predict(bias,H);
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EXPECT(assert_equal(expectedH, H, 1e-8));
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}
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//******************************************************************************
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/nonlinear/Marginals.h>
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|
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TEST (AHRSFactor, graphTest) {
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// linearization point
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Rot3 x1(Rot3::RzRyRx(0, 0, 0));
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Rot3 x2(Rot3::RzRyRx(0, M_PI / 4, 0));
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Vector3 bias(0,0,0);
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|
|
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// PreIntegrator
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Vector3 biasHat(0, 0, 0);
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PreintegratedAhrsMeasurements pim(biasHat, kMeasuredAccCovariance);
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|
|
|
// Pre-integrate measurements
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Vector3 measuredOmega(0, M_PI / 20, 0);
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|
double deltaT = 1;
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|
|
|
// Create Factor
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noiseModel::Base::shared_ptr model = //
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noiseModel::Gaussian::Covariance(pim.preintMeasCov());
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|
NonlinearFactorGraph graph;
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|
Values values;
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|
for (size_t i = 0; i < 5; ++i) {
|
|
pim.integrateMeasurement(measuredOmega, deltaT);
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}
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|
|
|
// pim.print("Pre integrated measurementes");
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|
AHRSFactor factor(X(1), X(2), B(1), pim, kZeroOmegaCoriolis);
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values.insert(X(1), x1);
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|
values.insert(X(2), x2);
|
|
values.insert(B(1), bias);
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graph.push_back(factor);
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|
LevenbergMarquardtOptimizer optimizer(graph, values);
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Values result = optimizer.optimize();
|
|
Rot3 expectedRot(Rot3::RzRyRx(0, M_PI / 4, 0));
|
|
EXPECT(assert_equal(expectedRot, result.at<Rot3>(X(2))));
|
|
}
|
|
|
|
//******************************************************************************
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
//******************************************************************************
|