148 lines
5.3 KiB
C++
148 lines
5.3 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 TangentPreintegration.h
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* @author Frank Dellaert
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* @author Adam Bry
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**/
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#pragma once
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#include <gtsam/navigation/PreintegrationBase.h>
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namespace gtsam {
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/**
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* Integrate on the 9D tangent space of the NavState manifold.
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* See extensive discussion in ImuFactor.lyx
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*/
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class TangentPreintegration : public PreintegrationBase {
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protected:
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/**
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* Preintegrated navigation state, as a 9D vector on tangent space at frame i
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* Order is: theta, position, velocity
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*/
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Vector9 preintegrated_;
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Matrix93 preintegrated_H_biasAcc_; ///< Jacobian of preintegrated_ w.r.t. acceleration bias
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Matrix93 preintegrated_H_biasOmega_; ///< Jacobian of preintegrated_ w.r.t. angular rate bias
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/// Default constructor for serialization
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TangentPreintegration() {
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resetIntegration();
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}
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public:
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/// @name Constructors/destructors
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/// @{
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/**
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* Constructor, initializes the variables in the base class
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* @param p Parameters, typically fixed in a single application
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* @param bias Current estimate of acceleration and rotation rate biases
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*/
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TangentPreintegration(const boost::shared_ptr<Params>& p,
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const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());
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/// Virtual destructor
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virtual ~TangentPreintegration() {
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}
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/// @}
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/// @name Basic utilities
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/// @{
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/// Re-initialize PreintegratedMeasurements
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void resetIntegration() override;
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/// @}
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/// @name Instance variables access
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/// @{
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Vector3 deltaPij() const override { return preintegrated_.segment<3>(3); }
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Vector3 deltaVij() const override { return preintegrated_.tail<3>(); }
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Rot3 deltaRij() const override { return Rot3::Expmap(theta()); }
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NavState deltaXij() const override { return NavState().retract(preintegrated_); }
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const Vector9& preintegrated() const { return preintegrated_; }
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Vector3 theta() const { return preintegrated_.head<3>(); }
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const Matrix93& preintegrated_H_biasAcc() const { return preintegrated_H_biasAcc_; }
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const Matrix93& preintegrated_H_biasOmega() const { return preintegrated_H_biasOmega_; }
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/// @name Testable
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/// @{
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bool equals(const TangentPreintegration& other, double tol) const;
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/// @}
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/// @name Main functionality
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/// @{
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// Update integrated vector on tangent manifold preintegrated with acceleration
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// Static, functional version.
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static Vector9 UpdatePreintegrated(const Vector3& a_body,
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const Vector3& w_body, const double dt,
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const Vector9& preintegrated,
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OptionalJacobian<9, 9> A = boost::none,
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OptionalJacobian<9, 3> B = boost::none,
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OptionalJacobian<9, 3> C = boost::none);
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/// Update preintegrated measurements and get derivatives
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/// It takes measured quantities in the j frame
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/// Modifies preintegrated quantities in place after correcting for bias and possibly sensor pose
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/// NOTE(frank): implementation is different in two versions
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void update(const Vector3& measuredAcc, const Vector3& measuredOmega,
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const double dt, Matrix9* A, Matrix93* B, Matrix93* C) override;
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/// Given the estimate of the bias, return a NavState tangent vector
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/// summarizing the preintegrated IMU measurements so far
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/// NOTE(frank): implementation is different in two versions
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Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i,
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OptionalJacobian<9, 6> H = boost::none) const override;
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// Compose the two pre-integrated 9D-vectors zeta01 and zeta02, with derivatives
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static Vector9 Compose(const Vector9& zeta01, const Vector9& zeta12,
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double deltaT12,
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OptionalJacobian<9, 9> H1 = boost::none,
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OptionalJacobian<9, 9> H2 = boost::none);
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/// Merge in a different set of measurements and update bias derivatives accordingly
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/// The derivatives apply to the preintegrated Vector9
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void mergeWith(const TangentPreintegration& pim, Matrix9* H1, Matrix9* H2);
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/// @}
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/** Dummy clone for MATLAB */
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virtual boost::shared_ptr<TangentPreintegration> clone() const {
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return boost::shared_ptr<TangentPreintegration>();
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}
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/// @}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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namespace bs = ::boost::serialization;
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ar & BOOST_SERIALIZATION_NVP(p_);
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ar & BOOST_SERIALIZATION_NVP(biasHat_);
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ar & BOOST_SERIALIZATION_NVP(deltaTij_);
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ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size()));
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ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size()));
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ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size()));
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}
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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} /// namespace gtsam
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