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Commit 5a629fc4 authored by Médéric Fourmy's avatar Médéric Fourmy
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New file for testing mocap+imu only

parent 422495c7
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2 merge requests!18Release after RAL,!17After 2nd RAL submission
...@@ -11,28 +11,28 @@ include_directories( ...@@ -11,28 +11,28 @@ include_directories(
add_library(mcapi_utils mcapi_utils.cpp) add_library(mcapi_utils mcapi_utils.cpp)
add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp) # add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp)
target_link_libraries(mcapi_povcdl_estimation # target_link_libraries(mcapi_povcdl_estimation
mcapi_utils # mcapi_utils
${wolfcore_LIBRARIES} # ${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES} # ${wolfimu_LIBRARIES}
${PLUGIN_NAME} # ${PLUGIN_NAME}
${multicontact-api_LIBRARIES} # ${multicontact-api_LIBRARIES}
${pinocchio_LIBRARIES} # ${pinocchio_LIBRARIES}
) # )
target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER}) # target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp) # add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp)
target_link_libraries(mcapi_pov_estimation # target_link_libraries(mcapi_pov_estimation
mcapi_utils # mcapi_utils
${wolfcore_LIBRARIES} # ${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES} # ${wolfimu_LIBRARIES}
${PLUGIN_NAME} # ${PLUGIN_NAME}
${multicontact-api_LIBRARIES} # ${multicontact-api_LIBRARIES}
${pinocchio_LIBRARIES} # ${pinocchio_LIBRARIES}
) # )
target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER}) # target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp) add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp)
target_link_libraries(solo_real_povcdl_estimation target_link_libraries(solo_real_povcdl_estimation
...@@ -56,6 +56,15 @@ target_link_libraries(solo_real_pov_estimation ...@@ -56,6 +56,15 @@ target_link_libraries(solo_real_pov_estimation
z z
) )
add_executable(solo_mocap_imu solo_mocap_imu.cpp)
target_link_libraries(solo_mocap_imu
${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES}
${PLUGIN_NAME}
${pinocchio_LIBRARIES}
/usr/local/lib/libcnpy.so
z
)
# add_executable(test_cnpy test_cnpy.cpp) # add_executable(test_cnpy test_cnpy.cpp)
# target_link_libraries(test_cnpy # target_link_libraries(test_cnpy
......
This diff is collapsed.
...@@ -65,9 +65,9 @@ l_p_lg: [0.0, 0, 0] ...@@ -65,9 +65,9 @@ l_p_lg: [0.0, 0, 0]
# l_p_lg: [0, 0, -0.031] # for sin traj, point to which position estimation on z starts to be less good # l_p_lg: [0, 0, -0.031] # for sin traj, point to which position estimation on z starts to be less good
# base to IMU transformation # base to IMU transformation
b_p_bi: [0.0, 0.0, 0.0] # b_p_bi: [0.0, 0.0, 0.0]
# b_p_bi: [-0.2, 0.0, 0.0] # b_p_bi: [-0.2, 0.0, 0.0]
# b_p_bi: [0.1163, 0.0, 0.02] b_p_bi: [0.1163, 0.0, 0.02]
b_q_i: [0.0, 0.0, 0.0, 1.0] b_q_i: [0.0, 0.0, 0.0, 1.0]
# b_q_i: [0.00000592745, -0.03255761280, -0.00025745595, 0.706732091] # b_q_i: [0.00000592745, -0.03255761280, -0.00025745595, 0.706732091]
......
...@@ -294,7 +294,9 @@ int main (int argc, char **argv) { ...@@ -294,7 +294,9 @@ int main (int argc, char **argv) {
CaptureBasePtr capbi0 = CaptureBase::emplace<CaptureBase>(KF1, "bi0", t0); CaptureBasePtr capbi0 = CaptureBase::emplace<CaptureBase>(KF1, "bi0", t0);
FeatureBasePtr featbi0 = FeatureBase::emplace<FeatureBase>(capbi0, "bi0", bias_imu_prior, Q_bi); FeatureBasePtr featbi0 = FeatureBase::emplace<FeatureBase>(capbi0, "bi0", bias_imu_prior, Q_bi);
FactorBasePtr facbi0 = FactorBase::emplace<FactorBlockAbsolute>(featbi0, featbi0, KF1->getCaptureOf(sen_imu)->getSensorIntrinsic(), nullptr, false); FactorBasePtr facbi0 = FactorBase::emplace<FactorBlockAbsolute>(featbi0, featbi0, KF1->getCaptureOf(sen_imu)->getSensorIntrinsic(), nullptr, false);
KF1->getCaptureOf(sen_imu)->getStateBlock('I')->setState(bias_imu_prior);
sen_imu->getStateBlock('I')->setState(bias_imu_prior); sen_imu->getStateBlock('I')->setState(bias_imu_prior);
// sen_imu->fixIntrinsics();
/////////////////////////////////////////// ///////////////////////////////////////////
......
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