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Split timing benchmark that had appeared inside a test to a separate timing script
2013-08-07 02:30:27 +08:00
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testInertialNavFactor_GlobalVelocity.cpp
* @brief Unit test for the InertialNavFactor_GlobalVelocity
* @author Vadim Indelman, Stephen Williams
*/
#include <iostream>
#include <gtsam/navigation/ImuBias.h>
Moved ImuFactor and CombinedImuFactor into main gtsam, and moved InertialNavFactor family into gtsam_unstable.
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#include <gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h>
Split timing benchmark that had appeared inside a test to a separate timing script
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#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/base/numericalDerivative.h>
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
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#include <gtsam/inference/Key.h>
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using namespace std;
using namespace gtsam;
gtsam::Rot3 world_R_ECEF(
tabs converted to two spaces
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0.31686, 0.51505, 0.79645,
0.85173, -0.52399, 0,
0.41733, 0.67835, -0.60471);
Split timing benchmark that had appeared inside a test to a separate timing script
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Updated some usages that were missed
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gtsam::Vector ECEF_omega_earth(Vector3(0.0, 0.0, 7.292115e-5));
Split timing benchmark that had appeared inside a test to a separate timing script
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gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
/* ************************************************************************* */
Fix compile errors in issue #147
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gtsam::Pose3 predictionErrorPose(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
Split timing benchmark that had appeared inside a test to a separate timing script
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return Pose3::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).head(6));
}
Fix compile errors in issue #147
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gtsam::Vector3 predictionErrorVel(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
changes revertted to 502a745
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return factor.evaluateError(p1, v1, b1, p2, v2).tail(3);
Split timing benchmark that had appeared inside a test to a separate timing script
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}
#include <gtsam/linear/GaussianFactorGraph.h>
/* ************************************************************************* */
int main() {
gtsam::Key PoseKey1(11);
gtsam::Key PoseKey2(12);
gtsam::Key VelKey1(21);
gtsam::Key VelKey2(22);
gtsam::Key BiasKey1(31);
double measurement_dt(0.1);
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
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Vector world_g(Vector3(0.0, 0.0, 9.81));
Updated some usages that were missed
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Vector world_rho(Vector3(0.0, -1.5724e-05, 0.0)); // NED system
gtsam::Vector ECEF_omega_earth(Vector3(0.0, 0.0, 7.292115e-5));
Split timing benchmark that had appeared inside a test to a separate timing script
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gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
// Second test: zero angular motion, some acceleration - generated in matlab
Converted Vector(2|3) << ... to Vector2(...) or Vector3(...) syntax
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Vector measurement_acc(Vector3(6.501390843381716, -6.763926150509185, -2.300389940090343));
Vector measurement_gyro(Vector3(0.1, 0.2, 0.3));
Split timing benchmark that had appeared inside a test to a separate timing script
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Fix compile errors in issue #147
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InertialNavFactor_GlobalVelocity<Pose3, Vector3, 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,
0.580273724, 0.693095498, -0.427669306,
-0.652537293, 0.709880342, 0.265075427);
Point3 t1(2.0,1.0,3.0);
Pose3 Pose1(R1, t1);
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Vector3 Vel1 = Vector(Vector3(0.5,-0.5,0.4));
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Rot3 R2(0.473618898, 0.119523052, 0.872582019,
0.609241153, 0.67099888, -0.422594037,
-0.636011287, 0.731761397, 0.244979388);
Fixed forgotten compose
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Point3 t2 = t1 + Point3(Vel1*measurement_dt);
Split timing benchmark that had appeared inside a test to a separate timing script
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Pose3 Pose2(R2, t2);
Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
changes revertted to 502a745
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Vector3 Vel2 = Vel1 + dv;
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imuBias::ConstantBias Bias1;
Values values;
values.insert(PoseKey1, Pose1);
values.insert(PoseKey2, Pose2);
values.insert(VelKey1, Vel1);
values.insert(VelKey2, Vel2);
values.insert(BiasKey1, Bias1);
Ordering ordering;
ordering.push_back(PoseKey1);
ordering.push_back(VelKey1);
ordering.push_back(BiasKey1);
ordering.push_back(PoseKey2);
ordering.push_back(VelKey2);
GaussianFactorGraph graph;
gttic_(LinearizeTiming);
for(size_t i = 0; i < 100000; ++i) {
Building timing scripts using new timing script support in GtsamTesting.cmake. Fixed compile errors in timing scripts but disabled a couple.
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GaussianFactor::shared_ptr g = f.linearize(values);
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graph.push_back(g);
}
gttoc_(LinearizeTiming);
tictoc_finishedIteration_();
tictoc_print_();
}
/* ************************************************************************* */