183 lines
5.5 KiB
C++
183 lines
5.5 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 ImuBias.h
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* @date Feb 2, 2012
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* @author Vadim Indelman, Stephen Williams
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*/
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#pragma once
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#include <boost/serialization/nvp.hpp>
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#include <gtsam/base/Matrix.h>
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#include <gtsam/base/Vector.h>
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#include <gtsam/base/DerivedValue.h>
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#include <gtsam/geometry/Pose3.h>
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/*
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* NOTES:
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* - Earth-rate correction:
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* + Currently the user should supply R_ECEF_to_G, which is the rotation from ECEF to Local-Level system (NED or ENU as defened by the user).
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* + R_ECEF_to_G can be calculated by approximated values of latitude and longitude of the system.
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* + A relatively small distance is traveled w.r.t. to initial pose is assumed, since R_ECEF_to_G is constant.
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* Otherwise, R_ECEF_to_G should be updated each time using the current lat-lon.
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*
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* - Currently, an empty constructed is not enabled so that the user is forced to specify R_ECEF_to_G.
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*/
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namespace gtsam {
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/// All bias models live in the imuBias namespace
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namespace imuBias {
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class ConstantBias : public DerivedValue<ConstantBias> {
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private:
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Vector bias_acc_;
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Vector bias_gyro_;
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public:
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ConstantBias():
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bias_acc_(Vector_(3, 0.0, 0.0, 0.0)), bias_gyro_(Vector_(3, 0.0, 0.0, 0.0)) {
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}
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ConstantBias(const Vector& bias_acc, const Vector& bias_gyro):
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bias_acc_(bias_acc), bias_gyro_(bias_gyro) {
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}
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Vector CorrectAcc(Vector measurment, boost::optional<Matrix&> H=boost::none) const {
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if (H){
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Matrix zeros3_3(zeros(3,3));
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Matrix m_eye3(-eye(3));
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*H = collect(2, &m_eye3, &zeros3_3);
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}
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return measurment - bias_acc_;
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}
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Vector CorrectGyro(Vector measurment, boost::optional<Matrix&> H=boost::none) const {
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if (H){
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Matrix zeros3_3(zeros(3,3));
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Matrix m_eye3(-eye(3));
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*H = collect(2, &zeros3_3, &m_eye3);
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}
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return measurment - bias_gyro_;
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}
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// H1: Jacobian w.r.t. IMUBias
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// H2: Jacobian w.r.t. pose
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Vector CorrectGyroWithEarthRotRate(Vector measurement, const Pose3& pose, const Vector& w_earth_rate_G,
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boost::optional<Matrix&> H1=boost::none, boost::optional<Matrix&> H2=boost::none) const {
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Matrix R_G_to_I( pose.rotation().matrix().transpose() );
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Vector w_earth_rate_I = R_G_to_I * w_earth_rate_G;
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if (H1){
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Matrix zeros3_3(zeros(3,3));
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Matrix m_eye3(-eye(3));
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*H1 = collect(2, &zeros3_3, &m_eye3);
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}
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if (H2){
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Matrix zeros3_3(zeros(3,3));
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Matrix H = -skewSymmetric(w_earth_rate_I);
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*H2 = collect(2, &H, &zeros3_3);
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}
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//TODO: Make sure H2 is correct.
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return measurement - bias_gyro_ - w_earth_rate_I;
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// Vector bias_gyro_temp(Vector_(3, -bias_gyro_(0), bias_gyro_(1), bias_gyro_(2)));
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// return measurement - bias_gyro_temp - R_G_to_I * w_earth_rate_G;
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}
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/** Expmap around identity */
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static inline ConstantBias Expmap(const Vector& v) { return ConstantBias(v.head(3), v.tail(3)); }
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/** Logmap around identity - just returns with default cast back */
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static inline Vector Logmap(const ConstantBias& p) { return concatVectors(2, &p.bias_acc_, &p.bias_gyro_); }
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/** Update the LieVector with a tangent space update */
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inline ConstantBias retract(const Vector& v) const { return ConstantBias(bias_acc_ + v.head(3), bias_gyro_ + v.tail(3)); }
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/** @return the local coordinates of another object */
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inline Vector localCoordinates(const ConstantBias& t2) const {
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Vector delta_acc(t2.bias_acc_ - bias_acc_);
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Vector delta_gyro(t2.bias_gyro_ - bias_gyro_);
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return concatVectors(2, &delta_acc, &delta_gyro);
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}
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/** Returns dimensionality of the tangent space */
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inline size_t dim() const { return this->bias_acc_.size() + this->bias_gyro_.size(); }
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/// print with optional string
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void print(const std::string& s = "") const {
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// explicit printing for now.
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std::cout << s + ".bias_acc [" << bias_acc_.transpose() << "]" << std::endl;
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std::cout << s + ".bias_gyro [" << bias_gyro_.transpose() << "]" << std::endl;
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}
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/** equality up to tolerance */
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inline bool equals(const ConstantBias& expected, double tol=1e-5) const {
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return equal(bias_acc_, expected.bias_acc_, tol) && equal(bias_gyro_, expected.bias_gyro_, tol);
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}
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/** get bias_acc */
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const Vector& bias_acc() const { return bias_acc_; }
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/** get bias_gyro */
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const Vector& bias_gyro() const { return bias_gyro_; }
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ConstantBias compose(const ConstantBias& b2,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const {
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if(H1) *H1 = eye(dim());
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if(H2) *H2 = eye(b2.dim());
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return ConstantBias(bias_acc_ + b2.bias_acc_, bias_gyro_ + b2.bias_gyro_);
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}
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/** between operation */
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ConstantBias between(const ConstantBias& b2,
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boost::optional<Matrix&> H1=boost::none,
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boost::optional<Matrix&> H2=boost::none) const {
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if(H1) *H1 = -eye(dim());
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if(H2) *H2 = eye(b2.dim());
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return ConstantBias(b2.bias_acc_ - bias_acc_, b2.bias_gyro_ - bias_gyro_);
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}
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/** invert the object and yield a new one */
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inline ConstantBias inverse(boost::optional<Matrix&> H=boost::none) const {
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if(H) *H = -eye(dim());
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return ConstantBias(-1.0 * bias_acc_, -1.0 * bias_gyro_);
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}
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}; // ConstantBias class
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} // namespace ImuBias
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} // namespace gtsam
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