25 lines
1.0 KiB
Matlab
25 lines
1.0 KiB
Matlab
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function [ finalPose, finalVelocityGlobal ] = integrateTrajectory( ...
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initialPose, omega1Body, velocity1Body, velocity2Body, deltaT)
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%INTEGRATETRAJECTORY Integrate one trajectory step
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import gtsam.*;
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% Rotation: R^1_2
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body2in1 = Rot3.Expmap(omega1Body * deltaT);
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% Velocity 2 in frame 1: v^1_2 = R^1_2 v^2_2
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velocity2inertial = body2in1.rotate(Point3(velocity2Body)).vector;
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% Acceleration: a^1 = (v^1_2 - v^1_1)/dt
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accelBody1 = (velocity2inertial - velocity1Body) / deltaT;
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% Velocity 1 in frame W: v^W_1 = R^W_1 v^1_1
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initialVelocityGlobal = initialPose.rotation().rotate(Point3(velocity1Body)).vector;
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% Acceleration in frame W: a^W = R^W_1 a^1
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accelGlobal = initialPose.rotation().rotate(Point3(accelBody1)).vector;
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finalPosition = Point3(initialPose.translation.vector + initialVelocityGlobal * deltaT + 0.5 * accelGlobal * deltaT * deltaT);
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finalVelocityGlobal = initialVelocityGlobal + accelGlobal * deltaT;
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finalRotation = initialPose.rotation.compose(body2in1);
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finalPose = Pose3(finalRotation, finalPosition);
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end
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