2013-08-07 02:30:27 +08:00
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/* ----------------------------------------------------------------------------
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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 testInertialNavFactor_GlobalVelocity.cpp
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* @brief Unit test for the InertialNavFactor_GlobalVelocity
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* @author Vadim Indelman, Stephen Williams
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*/
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#include <iostream>
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#include <gtsam/navigation/ImuBias.h>
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2013-08-14 05:04:31 +08:00
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#include <gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h>
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2013-08-07 02:30:27 +08:00
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/nonlinear/Key.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/LieVector.h>
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using namespace std;
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using namespace gtsam;
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gtsam::Rot3 world_R_ECEF(
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2013-10-11 01:52:57 +08:00
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0.31686, 0.51505, 0.79645,
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0.85173, -0.52399, 0,
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0.41733, 0.67835, -0.60471);
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2013-08-07 02:30:27 +08:00
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2013-10-22 12:56:01 +08:00
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gtsam::Vector ECEF_omega_earth((Vec(3) << 0.0, 0.0, 7.292115e-5));
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2013-08-07 02:30:27 +08:00
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gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
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/* ************************************************************************* */
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gtsam::Pose3 predictionErrorPose(const Pose3& p1, const LieVector& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const LieVector& v2, const InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias>& factor) {
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return Pose3::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).head(6));
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}
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gtsam::LieVector predictionErrorVel(const Pose3& p1, const LieVector& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const LieVector& v2, const InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias>& factor) {
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return LieVector::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).tail(3));
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}
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#include <gtsam/linear/GaussianFactorGraph.h>
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/* ************************************************************************* */
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int main() {
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gtsam::Key PoseKey1(11);
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gtsam::Key PoseKey2(12);
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gtsam::Key VelKey1(21);
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gtsam::Key VelKey2(22);
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gtsam::Key BiasKey1(31);
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double measurement_dt(0.1);
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2013-10-22 12:56:01 +08:00
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Vector world_g((Vec(3) << 0.0, 0.0, 9.81));
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Vector world_rho((Vec(3) << 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth((Vec(3) << 0.0, 0.0, 7.292115e-5));
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2013-08-07 02:30:27 +08:00
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gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
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SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
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// Second test: zero angular motion, some acceleration - generated in matlab
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2013-10-22 12:56:01 +08:00
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Vector measurement_acc((Vec(3) << 6.501390843381716, -6.763926150509185, -2.300389940090343));
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Vector measurement_gyro((Vec(3) << 0.1, 0.2, 0.3));
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2013-08-07 02:30:27 +08:00
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InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
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Rot3 R1(0.487316618, 0.125253866, 0.86419557,
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0.580273724, 0.693095498, -0.427669306,
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-0.652537293, 0.709880342, 0.265075427);
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Point3 t1(2.0,1.0,3.0);
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Pose3 Pose1(R1, t1);
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LieVector Vel1(3,0.5,-0.5,0.4);
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Rot3 R2(0.473618898, 0.119523052, 0.872582019,
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0.609241153, 0.67099888, -0.422594037,
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-0.636011287, 0.731761397, 0.244979388);
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Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
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Pose3 Pose2(R2, t2);
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Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
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LieVector Vel2 = Vel1.compose( dv );
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imuBias::ConstantBias Bias1;
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Values values;
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values.insert(PoseKey1, Pose1);
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values.insert(PoseKey2, Pose2);
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values.insert(VelKey1, Vel1);
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values.insert(VelKey2, Vel2);
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values.insert(BiasKey1, Bias1);
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Ordering ordering;
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ordering.push_back(PoseKey1);
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ordering.push_back(VelKey1);
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ordering.push_back(BiasKey1);
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ordering.push_back(PoseKey2);
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ordering.push_back(VelKey2);
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GaussianFactorGraph graph;
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gttic_(LinearizeTiming);
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for(size_t i = 0; i < 100000; ++i) {
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GaussianFactor::shared_ptr g = f.linearize(values, ordering);
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graph.push_back(g);
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}
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gttoc_(LinearizeTiming);
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tictoc_finishedIteration_();
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tictoc_print_();
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}
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/* ************************************************************************* */
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