29 cout << (s.empty() ? s : s +
"\n") << endl;
30 cout <<
"gyroscopeCovariance:\n[\n" << gyroscopeCovariance <<
"\n]" << endl;
32 cout <<
"omegaCoriolis = (" << omegaCoriolis->transpose() <<
")" << endl;
33 if (body_P_sensor) body_P_sensor->print(
"body_P_sensor");
36 bool PreintegratedRotationParams::equals(
51 void PreintegratedRotation::resetIntegration() {
54 delRdelBiasOmega_ = Z_3x3;
59 cout <<
" deltaTij [" << deltaTij_ <<
"]" << endl;
60 cout <<
" deltaRij.ypr = (" << deltaRij_.ypr().transpose() <<
")" << endl;
65 return this->matchesParamsWith(other)
76 Vector3 correctedOmega = measuredOmega - biasHat;
80 if (p_->body_P_sensor) {
81 Matrix3 body_R_sensor = p_->body_P_sensor->rotation().
matrix();
83 correctedOmega = body_R_sensor * correctedOmega;
89 return Rot3::Expmap(integratedOmega, D_incrR_integratedOmega);
96 Matrix3 D_incrR_integratedOmega;
97 const Rot3 incrR = incrementalRotation(measuredOmega, biasHat, deltaT,
98 D_incrR_integratedOmega);
101 if (optional_D_incrR_integratedOmega) {
102 *optional_D_incrR_integratedOmega << D_incrR_integratedOmega;
107 deltaRij_ = deltaRij_.compose(incrR, F);
110 const Matrix3 incrRt = incrR.
transpose();
111 delRdelBiasOmega_ = incrRt * delRdelBiasOmega_
112 - D_incrR_integratedOmega *
deltaT;
115 Rot3 PreintegratedRotation::biascorrectedDeltaRij(
const Vector3& biasOmegaIncr,
117 const Vector3 biasInducedOmega = delRdelBiasOmega_ * biasOmegaIncr;
118 const Rot3 deltaRij_biascorrected = deltaRij_.
expmap(biasInducedOmega,
121 (*H) *= delRdelBiasOmega_;
122 return deltaRij_biascorrected;
125 Vector3 PreintegratedRotation::integrateCoriolis(
const Rot3& rot_i)
const {
126 if (!p_->omegaCoriolis)
127 return Vector3::Zero();
128 return rot_i.
transpose() * (*p_->omegaCoriolis) * deltaTij_;
void print(const Matrix &A, const string &s, ostream &stream)
boost::optional< Vector3 > omegaCoriolis
Coriolis constant.
Pose2_ Expmap(const Vector3_ &xi)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set set xzeroaxis lt lw set x2zeroaxis lt lw set yzeroaxis lt lw set y2zeroaxis lt lw set tics in set ticslevel set tics set mxtics default set mytics default set mx2tics default set my2tics default set xtics border mirror norotate autofreq set ytics border mirror norotate autofreq set ztics border nomirror norotate autofreq set nox2tics set noy2tics set timestamp bottom norotate set rrange[*:*] noreverse nowriteback set trange[*:*] noreverse nowriteback set urange[*:*] noreverse nowriteback set vrange[*:*] noreverse nowriteback set xlabel matrix size set x2label set timefmt d m y n H
Class expmap(const TangentVector &v) const
Matrix3 delRdelBiasOmega_
Jacobian of preintegrated rotation w.r.t. angular rate bias.
static const double deltaT
boost::optional< Pose3 > body_P_sensor
The pose of the sensor in the body frame.
bool equal_with_abs_tol(const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
Matrix3 transpose() const
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
static const Vector3 measuredOmega(w, 0, 0)
Rot3 deltaRij_
Preintegrated relative orientation (in frame i)
Matrix3 gyroscopeCovariance
double deltaTij_
Time interval from i to j.