2014-01-29 01:19:25 +08:00
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function [ finalPose, finalVelocityGlobal ] = integrateIMUTrajectory_navFrame( ...
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initialPoseGlobal, initialVelocityGlobal, acc_omegaIMU, deltaT)
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%INTEGRATETRAJECTORY Integrate one trajectory step from IMU measurement
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import gtsam.*;
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% Integrate rotations
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imu2in1 = Rot3.Expmap(acc_omegaIMU(4:6) * deltaT);
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finalRotation = initialPoseGlobal.rotation.compose(imu2in1);
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intermediateRotation = initialPoseGlobal.rotation.compose( Rot3.Expmap(acc_omegaIMU(4:6) * deltaT/2 ));
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% Integrate positions (equation (1) in Lupton)
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2020-08-18 02:37:12 +08:00
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accelGlobal = intermediateRotation.rotate(Point3(acc_omegaIMU(1:3)));
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finalPosition = Point3(initialPoseGlobal.translation ...
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2014-01-29 01:19:25 +08:00
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+ initialVelocityGlobal * deltaT + 0.5 * accelGlobal * deltaT * deltaT);
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finalVelocityGlobal = initialVelocityGlobal + accelGlobal * deltaT;
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% Include position and rotation in a pose
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finalPose = Pose3(finalRotation, finalPosition);
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end
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