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mobile_robotics
wolf_projects
wolf_lib
plugins
bodydynamics
Commits
c444292a
Commit
c444292a
authored
5 years ago
by
Joan Solà Ortega
Browse files
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Merge remote-tracking branch 'origin/devel' into 4-migrate-to-state-composites
parents
d5019fab
7022b8c8
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3 merge requests
!18
Release after RAL
,
!17
After 2nd RAL submission
,
!4
Resolve "Migrate to state composites"
Changes
2
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2 changed files
demos/mcapi_povcdl_estimation.cpp
+3
-3
3 additions, 3 deletions
demos/mcapi_povcdl_estimation.cpp
test/gtest_processor_force_torque_preint.cpp
+52
-52
52 additions, 52 deletions
test/gtest_processor_force_torque_preint.cpp
with
55 additions
and
55 deletions
demos/mcapi_povcdl_estimation.cpp
+
3
−
3
View file @
c444292a
...
@@ -441,7 +441,7 @@ int main (int argc, char **argv) {
...
@@ -441,7 +441,7 @@ int main (int argc, char **argv) {
// Prior velocity factor
// Prior velocity factor
CaptureBasePtr
capV0
=
CaptureBase
::
emplace
<
CaptureBase
>
(
KF1
,
"Vel0"
,
t0
);
CaptureBasePtr
capV0
=
CaptureBase
::
emplace
<
CaptureBase
>
(
KF1
,
"Vel0"
,
t0
);
FeatureBasePtr
featV0
=
FeatureBase
::
emplace
<
FeatureBase
>
(
capV0
,
"Vel0"
,
x_origin
.
segment
<
3
>
(
7
),
P_origin
.
block
<
3
,
3
>
(
6
,
6
));
FeatureBasePtr
featV0
=
FeatureBase
::
emplace
<
FeatureBase
>
(
capV0
,
"Vel0"
,
x_origin
.
segment
<
3
>
(
7
),
P_origin
.
block
<
3
,
3
>
(
6
,
6
));
FactorBasePtr
facV0
=
FactorBase
::
emplace
<
FactorBlockAbsolute
>
(
featV0
,
KF1
->
getV
(),
nullptr
,
false
);
FactorBasePtr
facV0
=
FactorBase
::
emplace
<
FactorBlockAbsolute
>
(
featV0
,
featV0
,
KF1
->
getV
(),
nullptr
,
false
);
// Special trick to make things work in the IMU + IKin + FTPreint case
// Special trick to make things work in the IMU + IKin + FTPreint case
// 0. Call keyFrameCallback of processorIKin so that its kf_buffer contains the first KF0
// 0. Call keyFrameCallback of processorIKin so that its kf_buffer contains the first KF0
...
@@ -467,14 +467,14 @@ int main (int argc, char **argv) {
...
@@ -467,14 +467,14 @@ int main (int argc, char **argv) {
Matrix6d
Q_bi
=
1e-8
*
Matrix6d
::
Identity
();
Matrix6d
Q_bi
=
1e-8
*
Matrix6d
::
Identity
();
CaptureBasePtr
capbi0
=
CaptureBase
::
emplace
<
CaptureBase
>
(
KF1
,
"bi0"
,
t0
);
CaptureBasePtr
capbi0
=
CaptureBase
::
emplace
<
CaptureBase
>
(
KF1
,
"bi0"
,
t0
);
FeatureBasePtr
featbi0
=
FeatureBase
::
emplace
<
FeatureBase
>
(
capbi0
,
"bi0"
,
Vector6d
::
Zero
(),
Q_bi
);
FeatureBasePtr
featbi0
=
FeatureBase
::
emplace
<
FeatureBase
>
(
capbi0
,
"bi0"
,
Vector6d
::
Zero
(),
Q_bi
);
FactorBasePtr
facbi0
=
FactorBase
::
emplace
<
FactorBlockAbsolute
>
(
featbi0
,
KF1
->
getCaptureOf
(
sen_imu
)
->
getSensorIntrinsic
(),
nullptr
,
false
);
FactorBasePtr
facbi0
=
FactorBase
::
emplace
<
FactorBlockAbsolute
>
(
featbi0
,
featbi0
,
KF1
->
getCaptureOf
(
sen_imu
)
->
getSensorIntrinsic
(),
nullptr
,
false
);
// Add loose absolute factor on initial bp bias since dynamical trajectories
// Add loose absolute factor on initial bp bias since dynamical trajectories
// able to excite the system enough to make COM and bias_p observable hard to generate in a simple gtest
// able to excite the system enough to make COM and bias_p observable hard to generate in a simple gtest
Matrix3d
Q_bp
=
pow
(
std_abs_biasp
,
2
)
*
Matrix3d
::
Identity
();
Matrix3d
Q_bp
=
pow
(
std_abs_biasp
,
2
)
*
Matrix3d
::
Identity
();
CaptureBasePtr
cap_bp0
=
CaptureBase
::
emplace
<
CaptureBase
>
(
KF1
,
"bp0"
,
t0
);
CaptureBasePtr
cap_bp0
=
CaptureBase
::
emplace
<
CaptureBase
>
(
KF1
,
"bp0"
,
t0
);
FeatureBasePtr
feat_bp0
=
FeatureBase
::
emplace
<
FeatureBase
>
(
cap_bp0
,
"bp0"
,
bias_pbc_prior
,
Q_bp
);
FeatureBasePtr
feat_bp0
=
FeatureBase
::
emplace
<
FeatureBase
>
(
cap_bp0
,
"bp0"
,
bias_pbc_prior
,
Q_bp
);
FactorBasePtr
fac_bp0
=
FactorBase
::
emplace
<
FactorBlockAbsolute
>
(
feat_bp0
,
KF1
->
getCaptureOf
(
sen_ikin
)
->
getSensorIntrinsic
(),
nullptr
,
false
);
FactorBasePtr
fac_bp0
=
FactorBase
::
emplace
<
FactorBlockAbsolute
>
(
feat_bp0
,
feat_bp0
,
KF1
->
getCaptureOf
(
sen_ikin
)
->
getSensorIntrinsic
(),
nullptr
,
false
);
///////////////////////////////////////////
///////////////////////////////////////////
...
...
This diff is collapsed.
Click to expand it.
test/gtest_processor_force_torque_preint.cpp
+
52
−
52
View file @
c444292a
...
@@ -541,20 +541,20 @@ public:
...
@@ -541,20 +541,20 @@ public:
TEST_F
(
Cst2KFZeroMotion
,
ZeroMotionZeroBias
)
TEST_F
(
Cst2KFZeroMotion
,
ZeroMotionZeroBias
)
{
{
// TEST FIRST PURE INTEGRATION
//
//
TEST FIRST PURE INTEGRATION
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"P"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("P")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"V"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("V")->getState(), ZERO3, 1e-6);
// COM position on Z axis is not observable with this problem
//
//
COM position on Z axis is not observable with this problem
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"C"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("C")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"D"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("D")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"L"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("L")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"P"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("P")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"V"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("V")->getState(), ZERO3, 1e-6);
// COM position on Z axis is not observable with this problem
//
//
COM position on Z axis is not observable with this problem
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"C"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("C")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"D"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("D")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"L"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("L")->getState(), ZERO3, 1e-6);
// THEN SOLVE
// THEN SOLVE
problem_
->
perturb
();
problem_
->
perturb
();
...
@@ -612,19 +612,19 @@ TEST_F(Cst2KFXaxisLinearMotion, XLinearMotionZeroBias)
...
@@ -612,19 +612,19 @@ TEST_F(Cst2KFXaxisLinearMotion, XLinearMotionZeroBias)
posi_diff
[
0
]
=
0.5
*
ACC
*
pow
(
3
*
DT
,
2
);
posi_diff
[
0
]
=
0.5
*
ACC
*
pow
(
3
*
DT
,
2
);
Vector3d
vel_diff
=
ZERO3
;
Vector3d
vel_diff
=
ZERO3
;
vel_diff
[
0
]
=
ACC
*
3
*
DT
;
vel_diff
[
0
]
=
ACC
*
3
*
DT
;
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"P"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("P")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"V"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("V")->getState(), ZERO3, 1e-6);
// COM position on Z axis is not observable with this problem
//
//
COM position on Z axis is not observable with this problem
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"C"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("C")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"D"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("D")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"L"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("L")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"P"
)
->
getState
(),
posi_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("P")->getState(), posi_diff, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"V"
)
->
getState
(),
vel_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("V")->getState(), vel_diff, 1e-6);
// COM position on Z axis is not observable with this problem
//
//
COM position on Z axis is not observable with this problem
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"C"
)
->
getState
(),
posi_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("C")->getState(), posi_diff, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"D"
)
->
getState
(),
vel_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("D")->getState(), vel_diff, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"L"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("L")->getState(), ZERO3, 1e-6);
problem_
->
perturb
();
problem_
->
perturb
();
...
@@ -657,19 +657,19 @@ TEST_F(Cst2KFXaxisLinearMotionPbc, XLinearMotionBias)
...
@@ -657,19 +657,19 @@ TEST_F(Cst2KFXaxisLinearMotionPbc, XLinearMotionBias)
posi_diff
[
0
]
=
0.5
*
ACC
*
pow
(
3
*
DT
,
2
);
posi_diff
[
0
]
=
0.5
*
ACC
*
pow
(
3
*
DT
,
2
);
Vector3d
vel_diff
=
ZERO3
;
Vector3d
vel_diff
=
ZERO3
;
vel_diff
[
0
]
=
ACC
*
3
*
DT
;
vel_diff
[
0
]
=
ACC
*
3
*
DT
;
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"P"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("P")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"V"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("V")->getState(), ZERO3, 1e-6);
// COM position on Z axis is not observable with this problem
//
//
COM position on Z axis is not observable with this problem
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"C"
)
->
getState
().
head
(
2
),
(
PBCX
+
PBCY
+
PBCZ
).
head
(
2
),
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("C")->getState().head(2), (PBCX + PBCY + PBCZ).head(2), 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"D"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("D")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"L"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("L")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"P"
)
->
getState
(),
posi_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("P")->getState(), posi_diff, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"V"
)
->
getState
(),
vel_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("V")->getState(), vel_diff, 1e-6);
// COM position on Z axis is not observable with this problem
//
//
COM position on Z axis is not observable with this problem
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"C"
)
->
getState
().
head
(
2
),
(
PBCX
+
PBCY
+
PBCZ
).
head
(
2
)
+
posi_diff
.
head
(
2
),
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("C")->getState().head(2), (PBCX + PBCY + PBCZ).head(2) + posi_diff.head(2), 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"D"
)
->
getState
(),
vel_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("D")->getState(), vel_diff, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"L"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("L")->getState(), ZERO3, 1e-6);
problem_
->
perturb
();
problem_
->
perturb
();
...
@@ -758,20 +758,20 @@ TEST_F(Cst2KFXaxisLinearMotionPbcBiasPQbl, XLinearMotionBias)
...
@@ -758,20 +758,20 @@ TEST_F(Cst2KFXaxisLinearMotionPbcBiasPQbl, XLinearMotionBias)
}
}
TEST_F
(
Cst2KFXaxisRotationPureTorque
,
RotationOnlyNoSolve
)
//
TEST_F(Cst2KFXaxisRotationPureTorque, RotationOnlyNoSolve)
{
//
{
Vector3d
Lc_diff
;
Lc_diff
<<
M_PI
,
0
,
0
;
//
Vector3d Lc_diff; Lc_diff << M_PI, 0, 0;
Vector4d
q_diff
;
q_diff
<<
1
,
0
,
0
,
0
;
//
Vector4d q_diff; q_diff << 1,0,0,0;
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"P"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("P")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"V"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("V")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"C"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("C")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"D"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("D")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF1_
->
getStateBlock
(
"L"
)
->
getState
(),
ZERO3
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF1_->getStateBlock("L")->getState(), ZERO3, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"O"
)
->
getState
(),
q_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("O")->getState(), q_diff, 1e-6);
ASSERT_MATRIX_APPROX
(
KF2_
->
getStateBlock
(
"L"
)
->
getState
(),
Lc_diff
,
1e-6
);
//
ASSERT_MATRIX_APPROX(KF2_->getStateBlock("L")->getState(), Lc_diff, 1e-6);
}
//
}
int
main
(
int
argc
,
char
**
argv
)
int
main
(
int
argc
,
char
**
argv
)
...
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