683 lines
32 KiB
C++
683 lines
32 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 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 <CppUnitLite/TestHarness.h>
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#include <gtsam_unstable/dynamics/ImuBias.h>
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#include <gtsam_unstable/dynamics/InertialNavFactor_GlobalVelocity.h>
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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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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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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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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/* ************************************************************************* */
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TEST( InertialNavFactor_GlobalVelocity, Constructor)
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{
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gtsam::Key Pose1(11);
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gtsam::Key Pose2(12);
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gtsam::Key Vel1(21);
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gtsam::Key Vel2(22);
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gtsam::Key Bias1(31);
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Vector measurement_acc(Vector_(3,0.1,0.2,0.4));
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Vector measurement_gyro(Vector_(3, -0.2, 0.5, 0.03));
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double measurement_dt(0.1);
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Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
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Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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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InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
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}
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/* ************************************************************************* */
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TEST( InertialNavFactor_GlobalVelocity, Equals)
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{
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gtsam::Key Pose1(11);
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gtsam::Key Pose2(12);
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gtsam::Key Vel1(21);
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gtsam::Key Vel2(22);
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gtsam::Key Bias1(31);
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Vector measurement_acc(Vector_(3,0.1,0.2,0.4));
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Vector measurement_gyro(Vector_(3, -0.2, 0.5, 0.03));
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double measurement_dt(0.1);
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Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
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Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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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InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
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InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> g(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
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CHECK(assert_equal(f, g, 1e-5));
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}
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/* ************************************************************************* */
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TEST( InertialNavFactor_GlobalVelocity, Predict)
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{
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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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Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
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Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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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// First test: zero angular motion, some acceleration
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Vector measurement_acc(Vector_(3,0.1,0.2,0.3-9.81));
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Vector measurement_gyro(Vector_(3, 0.0, 0.0, 0.0));
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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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Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
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LieVector Vel1(3, 0.50, -0.50, 0.40);
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imuBias::ConstantBias Bias1;
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Pose3 expectedPose2(Rot3(), Point3(2.05, 0.95, 3.04));
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LieVector expectedVel2(3, 0.51, -0.48, 0.43);
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Pose3 actualPose2;
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LieVector actualVel2;
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f.predict(Pose1, Vel1, Bias1, actualPose2, actualVel2);
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CHECK(assert_equal(expectedPose2, actualPose2, 1e-5));
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CHECK(assert_equal(expectedVel2, actualVel2, 1e-5));
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}
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/* ************************************************************************* */
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TEST( InertialNavFactor_GlobalVelocity, ErrorPosVel)
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{
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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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Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
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Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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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// First test: zero angular motion, some acceleration
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Vector measurement_acc(Vector_(3,0.1,0.2,0.3-9.81));
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Vector measurement_gyro(Vector_(3, 0.0, 0.0, 0.0));
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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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Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
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Pose3 Pose2(Rot3(), Point3(2.05, 0.95, 3.04));
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LieVector Vel1(3, 0.50, -0.50, 0.40);
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LieVector Vel2(3, 0.51, -0.48, 0.43);
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imuBias::ConstantBias Bias1;
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Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
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Vector ExpectedErr(zero(9));
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CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
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}
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/* ************************************************************************* */
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TEST( InertialNavFactor_GlobalVelocity, ErrorRot)
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{
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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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Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
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Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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
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Vector measurement_acc(Vector_(3,0.0,0.0,0.0-9.81));
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Vector measurement_gyro(Vector_(3, 0.1, 0.2, 0.3));
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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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Pose3 Pose1(Rot3(), Point3(2.0,1.0,3.0));
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Pose3 Pose2(Rot3::Expmap(measurement_gyro*measurement_dt), Point3(2.0,1.0,3.0));
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LieVector Vel1(3,0.0,0.0,0.0);
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LieVector Vel2(3,0.0,0.0,0.0);
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imuBias::ConstantBias Bias1;
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Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
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Vector ExpectedErr(zero(9));
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CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
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}
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/* ************************************************************************* */
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TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
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{
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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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Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
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Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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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Vector measurement_acc(Vector_(3, 6.501390843381716, -6.763926150509185, -2.300389940090343));
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Vector measurement_gyro(Vector_(3, 0.1, 0.2, 0.3));
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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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Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
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Vector ExpectedErr(zero(9));
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// TODO: Expected values need to be updated for global velocity version
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CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
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}
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///* VADIM - START ************************************************************************* */
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//LieVector predictionRq(const LieVector angles, const LieVector q) {
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// return (Rot3().RzRyRx(angles) * q).vector();
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//}
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//
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//TEST (InertialNavFactor_GlobalVelocity, Rotation_Deriv ) {
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// LieVector angles(Vector_(3, 3.001, -1.0004, 2.0005));
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// Rot3 R1(Rot3().RzRyRx(angles));
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// LieVector q(Vector_(3, 5.8, -2.2, 4.105));
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// Rot3 qx(0.0, -q[2], q[1],
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// q[2], 0.0, -q[0],
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// -q[1], q[0],0.0);
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// Matrix J_hyp( -(R1*qx).matrix() );
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//
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// gtsam::Matrix J_expected;
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//
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// LieVector v(predictionRq(angles, q));
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//
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// J_expected = gtsam::numericalDerivative11<LieVector, LieVector>(boost::bind(&predictionRq, _1, q), angles);
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//
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// cout<<"J_hyp"<<J_hyp<<endl;
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// cout<<"J_expected"<<J_expected<<endl;
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//
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// CHECK( gtsam::assert_equal(J_expected, J_hyp, 1e-6));
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//}
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///* VADIM - END ************************************************************************* */
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/* ************************************************************************* */
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TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
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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(0.01);
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Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
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Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
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gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
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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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Vector measurement_acc(Vector_(3, 6.501390843381716, -6.763926150509185, -2.300389940090343));
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Vector measurement_gyro(Vector_(3, 3.14, 3.14/2, -3.14));
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InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> factor(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(2.052670960415706, 0.977252139079380, 2.942482135362800);
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Pose3 Pose2(R2, t2);
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LieVector Vel2(3,0.510000000000000, -0.480000000000000, 0.430000000000000);
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imuBias::ConstantBias Bias1;
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Matrix H1_actual, H2_actual, H3_actual, H4_actual, H5_actual;
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Vector ActualErr(factor.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2, H1_actual, H2_actual, H3_actual, H4_actual, H5_actual));
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// Checking for Pose part in the jacobians
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// ******
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Matrix H1_actualPose(H1_actual.block(0,0,6,H1_actual.cols()));
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Matrix H2_actualPose(H2_actual.block(0,0,6,H2_actual.cols()));
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Matrix H3_actualPose(H3_actual.block(0,0,6,H3_actual.cols()));
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Matrix H4_actualPose(H4_actual.block(0,0,6,H4_actual.cols()));
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Matrix H5_actualPose(H5_actual.block(0,0,6,H5_actual.cols()));
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// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
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gtsam::Matrix H1_expectedPose, H2_expectedPose, H3_expectedPose, H4_expectedPose, H5_expectedPose;
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H1_expectedPose = gtsam::numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
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H2_expectedPose = gtsam::numericalDerivative11<Pose3, LieVector>(boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
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H3_expectedPose = gtsam::numericalDerivative11<Pose3, imuBias::ConstantBias>(boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
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H4_expectedPose = gtsam::numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
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H5_expectedPose = gtsam::numericalDerivative11<Pose3, LieVector>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
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// Verify they are equal for this choice of state
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CHECK( gtsam::assert_equal(H1_expectedPose, H1_actualPose, 1e-6));
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CHECK( gtsam::assert_equal(H2_expectedPose, H2_actualPose, 1e-6));
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CHECK( gtsam::assert_equal(H3_expectedPose, H3_actualPose, 1e-6));
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CHECK( gtsam::assert_equal(H4_expectedPose, H4_actualPose, 1e-6));
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CHECK( gtsam::assert_equal(H5_expectedPose, H5_actualPose, 1e-6));
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// Checking for Vel part in the jacobians
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// ******
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Matrix H1_actualVel(H1_actual.block(6,0,3,H1_actual.cols()));
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Matrix H2_actualVel(H2_actual.block(6,0,3,H2_actual.cols()));
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Matrix H3_actualVel(H3_actual.block(6,0,3,H3_actual.cols()));
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Matrix H4_actualVel(H4_actual.block(6,0,3,H4_actual.cols()));
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Matrix H5_actualVel(H5_actual.block(6,0,3,H5_actual.cols()));
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|
// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
|
|
gtsam::Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel, H5_expectedVel;
|
|
H1_expectedVel = gtsam::numericalDerivative11<LieVector, Pose3>(boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
|
|
H2_expectedVel = gtsam::numericalDerivative11<LieVector, LieVector>(boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
|
|
H3_expectedVel = gtsam::numericalDerivative11<LieVector, imuBias::ConstantBias>(boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
|
|
H4_expectedVel = gtsam::numericalDerivative11<LieVector, Pose3>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
|
|
H5_expectedVel = gtsam::numericalDerivative11<LieVector, LieVector>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
|
|
|
|
// Verify they are equal for this choice of state
|
|
CHECK( gtsam::assert_equal(H1_expectedVel, H1_actualVel, 1e-6));
|
|
CHECK( gtsam::assert_equal(H2_expectedVel, H2_actualVel, 1e-6));
|
|
CHECK( gtsam::assert_equal(H3_expectedVel, H3_actualVel, 1e-6));
|
|
CHECK( gtsam::assert_equal(H4_expectedVel, H4_actualVel, 1e-6));
|
|
CHECK( gtsam::assert_equal(H5_expectedVel, H5_actualVel, 1e-6));
|
|
}
|
|
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
TEST( InertialNavFactor_GlobalVelocity, ConstructorWithTransform)
|
|
{
|
|
gtsam::Key Pose1(11);
|
|
gtsam::Key Pose2(12);
|
|
gtsam::Key Vel1(21);
|
|
gtsam::Key Vel2(22);
|
|
gtsam::Key Bias1(31);
|
|
|
|
Vector measurement_acc(Vector_(3, 0.1, 0.2, 0.4));
|
|
Vector measurement_gyro(Vector_(3, -0.2, 0.5, 0.03));
|
|
|
|
double measurement_dt(0.1);
|
|
Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
|
|
Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
|
|
gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
|
|
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
|
|
|
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
|
|
|
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(0.0, 0.0, 0.0)); // IMU is in ENU orientation
|
|
|
|
|
|
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( InertialNavFactor_GlobalVelocity, EqualsWithTransform)
|
|
{
|
|
gtsam::Key Pose1(11);
|
|
gtsam::Key Pose2(12);
|
|
gtsam::Key Vel1(21);
|
|
gtsam::Key Vel2(22);
|
|
gtsam::Key Bias1(31);
|
|
|
|
Vector measurement_acc(Vector_(3, 0.1, 0.2, 0.4));
|
|
Vector measurement_gyro(Vector_(3, -0.2, 0.5, 0.03));
|
|
|
|
double measurement_dt(0.1);
|
|
Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
|
|
Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
|
|
gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
|
|
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
|
|
|
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
|
|
|
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(0.0, 0.0, 0.0)); // IMU is in ENU orientation
|
|
|
|
|
|
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
|
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> g(Pose1, Vel1, Bias1, Pose2, Vel2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
|
CHECK(assert_equal(f, g, 1e-5));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( InertialNavFactor_GlobalVelocity, PredictWithTransform)
|
|
{
|
|
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);
|
|
Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
|
|
Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
|
|
gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
|
|
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
|
|
|
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
|
|
|
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
|
|
|
|
|
// First test: zero angular motion, some acceleration
|
|
Vector measurement_gyro(Vector_(3, 0.0, 0.0, 0.0)); // Measured in ENU orientation
|
|
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
|
Vector measurement_acc = Vector_(3, 0.2, 0.1, -0.3+9.81) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
|
|
|
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, body_P_sensor);
|
|
|
|
Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
|
|
LieVector Vel1(3, 0.50, -0.50, 0.40);
|
|
imuBias::ConstantBias Bias1;
|
|
Pose3 expectedPose2(Rot3(), Point3(2.05, 0.95, 3.04));
|
|
LieVector expectedVel2(3, 0.51, -0.48, 0.43);
|
|
Pose3 actualPose2;
|
|
LieVector actualVel2;
|
|
f.predict(Pose1, Vel1, Bias1, actualPose2, actualVel2);
|
|
|
|
CHECK(assert_equal(expectedPose2, actualPose2, 1e-5));
|
|
CHECK(assert_equal(expectedVel2, actualVel2, 1e-5));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform)
|
|
{
|
|
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);
|
|
Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
|
|
Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
|
|
gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
|
|
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
|
|
|
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
|
|
|
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
|
|
|
|
|
// First test: zero angular motion, some acceleration
|
|
Vector measurement_gyro(Vector_(3, 0.0, 0.0, 0.0)); // Measured in ENU orientation
|
|
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
|
Vector measurement_acc = Vector_(3, 0.2, 0.1, -0.3+9.81) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
|
|
|
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, body_P_sensor);
|
|
|
|
Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
|
|
Pose3 Pose2(Rot3(), Point3(2.05, 0.95, 3.04));
|
|
LieVector Vel1(3, 0.50, -0.50, 0.40);
|
|
LieVector Vel2(3, 0.51, -0.48, 0.43);
|
|
imuBias::ConstantBias Bias1;
|
|
|
|
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
|
Vector ExpectedErr(zero(9));
|
|
|
|
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( InertialNavFactor_GlobalVelocity, ErrorRotWithTransform)
|
|
{
|
|
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);
|
|
Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
|
|
Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
|
|
gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
|
|
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
|
|
|
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
|
|
|
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
|
|
|
|
|
// Second test: zero angular motion, some acceleration
|
|
Vector measurement_gyro(Vector_(3, 0.2, 0.1, -0.3)); // Measured in ENU orientation
|
|
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
|
Vector measurement_acc = Vector_(3, 0.0, 0.0, 0.0+9.81) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
|
|
|
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, body_P_sensor);
|
|
|
|
Pose3 Pose1(Rot3(), Point3(2.0,1.0,3.0));
|
|
Pose3 Pose2(Rot3::Expmap(body_P_sensor.rotation().matrix()*measurement_gyro*measurement_dt), Point3(2.0, 1.0, 3.0));
|
|
LieVector Vel1(3,0.0,0.0,0.0);
|
|
LieVector Vel2(3,0.0,0.0,0.0);
|
|
imuBias::ConstantBias Bias1;
|
|
|
|
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
|
Vector ExpectedErr(zero(9));
|
|
|
|
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform)
|
|
{
|
|
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);
|
|
Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
|
|
Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
|
|
gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
|
|
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
|
|
|
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
|
|
|
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
|
|
|
|
|
// Second test: zero angular motion, some acceleration - generated in matlab
|
|
Vector measurement_gyro(Vector_(3, 0.2, 0.1, -0.3)); // Measured in ENU orientation
|
|
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
|
Vector measurement_acc = Vector_(3, -6.763926150509185, 6.501390843381716, +2.300389940090343) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
|
|
|
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, body_P_sensor);
|
|
|
|
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);
|
|
LieVector Vel1(3,0.5,-0.5,0.4);
|
|
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
|
|
0.609241153, 0.67099888, -0.422594037,
|
|
-0.636011287, 0.731761397, 0.244979388);
|
|
Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
|
|
Pose3 Pose2(R2, t2);
|
|
Vector dv = measurement_dt * (R1.matrix() * body_P_sensor.rotation().matrix() * Vector_(3, -6.763926150509185, 6.501390843381716, +2.300389940090343) + world_g);
|
|
LieVector Vel2 = Vel1.compose( dv );
|
|
imuBias::ConstantBias Bias1;
|
|
|
|
Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
|
|
Vector ExpectedErr(zero(9));
|
|
|
|
// TODO: Expected values need to be updated for global velocity version
|
|
CHECK(assert_equal(ExpectedErr, ActualErr, 1e-5));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
|
|
|
|
gtsam::Key PoseKey1(11);
|
|
gtsam::Key PoseKey2(12);
|
|
gtsam::Key VelKey1(21);
|
|
gtsam::Key VelKey2(22);
|
|
gtsam::Key BiasKey1(31);
|
|
|
|
double measurement_dt(0.01);
|
|
Vector world_g(Vector_(3, 0.0, 0.0, 9.81));
|
|
Vector world_rho(Vector_(3, 0.0, -1.5724e-05, 0.0)); // NED system
|
|
gtsam::Vector ECEF_omega_earth(Vector_(3, 0.0, 0.0, 7.292115e-5));
|
|
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
|
|
|
|
SharedGaussian model(noiseModel::Isotropic::Sigma(9, 0.1));
|
|
|
|
Pose3 body_P_sensor(Rot3(0, 1, 0, 1, 0, 0, 0, 0, -1), Point3(1.0, -2.0, 3.0)); // IMU is in ENU orientation
|
|
|
|
|
|
Vector measurement_gyro(Vector_(3, 3.14/2, 3.14, +3.14)); // Measured in ENU orientation
|
|
Matrix omega__cross = skewSymmetric(measurement_gyro);
|
|
Vector measurement_acc = Vector_(3, -6.763926150509185, 6.501390843381716, +2.300389940090343) + omega__cross*omega__cross*body_P_sensor.rotation().inverse().matrix()*body_P_sensor.translation().vector(); // Measured in ENU orientation
|
|
|
|
|
|
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> factor(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
|
|
|
|
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);
|
|
LieVector Vel1(3,0.5,-0.5,0.4);
|
|
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
|
|
0.609241153, 0.67099888, -0.422594037,
|
|
-0.636011287, 0.731761397, 0.244979388);
|
|
Point3 t2(2.052670960415706, 0.977252139079380, 2.942482135362800);
|
|
Pose3 Pose2(R2, t2);
|
|
LieVector Vel2(3,0.510000000000000, -0.480000000000000, 0.430000000000000);
|
|
imuBias::ConstantBias Bias1;
|
|
|
|
Matrix H1_actual, H2_actual, H3_actual, H4_actual, H5_actual;
|
|
|
|
Vector ActualErr(factor.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2, H1_actual, H2_actual, H3_actual, H4_actual, H5_actual));
|
|
|
|
// Checking for Pose part in the jacobians
|
|
// ******
|
|
Matrix H1_actualPose(H1_actual.block(0,0,6,H1_actual.cols()));
|
|
Matrix H2_actualPose(H2_actual.block(0,0,6,H2_actual.cols()));
|
|
Matrix H3_actualPose(H3_actual.block(0,0,6,H3_actual.cols()));
|
|
Matrix H4_actualPose(H4_actual.block(0,0,6,H4_actual.cols()));
|
|
Matrix H5_actualPose(H5_actual.block(0,0,6,H5_actual.cols()));
|
|
|
|
// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
|
|
gtsam::Matrix H1_expectedPose, H2_expectedPose, H3_expectedPose, H4_expectedPose, H5_expectedPose;
|
|
H1_expectedPose = gtsam::numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
|
|
H2_expectedPose = gtsam::numericalDerivative11<Pose3, LieVector>(boost::bind(&predictionErrorPose, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
|
|
H3_expectedPose = gtsam::numericalDerivative11<Pose3, imuBias::ConstantBias>(boost::bind(&predictionErrorPose, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
|
|
H4_expectedPose = gtsam::numericalDerivative11<Pose3, Pose3>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
|
|
H5_expectedPose = gtsam::numericalDerivative11<Pose3, LieVector>(boost::bind(&predictionErrorPose, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
|
|
|
|
// Verify they are equal for this choice of state
|
|
CHECK( gtsam::assert_equal(H1_expectedPose, H1_actualPose, 1e-6));
|
|
CHECK( gtsam::assert_equal(H2_expectedPose, H2_actualPose, 1e-6));
|
|
CHECK( gtsam::assert_equal(H3_expectedPose, H3_actualPose, 1e-6));
|
|
CHECK( gtsam::assert_equal(H4_expectedPose, H4_actualPose, 1e-6));
|
|
CHECK( gtsam::assert_equal(H5_expectedPose, H5_actualPose, 1e-6));
|
|
|
|
// Checking for Vel part in the jacobians
|
|
// ******
|
|
Matrix H1_actualVel(H1_actual.block(6,0,3,H1_actual.cols()));
|
|
Matrix H2_actualVel(H2_actual.block(6,0,3,H2_actual.cols()));
|
|
Matrix H3_actualVel(H3_actual.block(6,0,3,H3_actual.cols()));
|
|
Matrix H4_actualVel(H4_actual.block(6,0,3,H4_actual.cols()));
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Matrix H5_actualVel(H5_actual.block(6,0,3,H5_actual.cols()));
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// Calculate the Jacobian matrices H1 until H5 using the numerical derivative function
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gtsam::Matrix H1_expectedVel, H2_expectedVel, H3_expectedVel, H4_expectedVel, H5_expectedVel;
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H1_expectedVel = gtsam::numericalDerivative11<LieVector, Pose3>(boost::bind(&predictionErrorVel, _1, Vel1, Bias1, Pose2, Vel2, factor), Pose1);
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H2_expectedVel = gtsam::numericalDerivative11<LieVector, LieVector>(boost::bind(&predictionErrorVel, Pose1, _1, Bias1, Pose2, Vel2, factor), Vel1);
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H3_expectedVel = gtsam::numericalDerivative11<LieVector, imuBias::ConstantBias>(boost::bind(&predictionErrorVel, Pose1, Vel1, _1, Pose2, Vel2, factor), Bias1);
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H4_expectedVel = gtsam::numericalDerivative11<LieVector, Pose3>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, _1, Vel2, factor), Pose2);
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H5_expectedVel = gtsam::numericalDerivative11<LieVector, LieVector>(boost::bind(&predictionErrorVel, Pose1, Vel1, Bias1, Pose2, _1, factor), Vel2);
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// Verify they are equal for this choice of state
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CHECK( gtsam::assert_equal(H1_expectedVel, H1_actualVel, 1e-6));
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CHECK( gtsam::assert_equal(H2_expectedVel, H2_actualVel, 1e-6));
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CHECK( gtsam::assert_equal(H3_expectedVel, H3_actualVel, 1e-6));
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CHECK( gtsam::assert_equal(H4_expectedVel, H4_actualVel, 1e-6));
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CHECK( gtsam::assert_equal(H5_expectedVel, H5_actualVel, 1e-6));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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