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Commit 263cb1e1 authored by cont-integration's avatar cont-integration
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[skip ci] applied clang format

parent 8afb7294
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1 merge request!49Draft: Resolve "Adapt to new sensor constructors in core"
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include/imu/processor/processor_imu_3d.h
+ 15
− 15
View file @ 263cb1e1
......@@ -54,36 +54,36 @@ class ProcessorImu3d : public ProcessorMotion
const Eigen::MatrixXd &_data_cov,
const Eigen::VectorXd &_calib,
const double _dt,
Eigen::VectorXd &_delta,
Eigen::MatrixXd &_delta_cov,
Eigen::MatrixXd &_jacobian_calib) const override;
Eigen::VectorXd & _delta,
Eigen::MatrixXd & _delta_cov,
Eigen::MatrixXd & _jacobian_calib) const override;
void deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
Eigen::VectorXd &_delta_preint_plus_delta) const override;
Eigen::VectorXd & _delta_preint_plus_delta) const override;
void deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
Eigen::VectorXd &_delta_preint_plus_delta,
Eigen::MatrixXd &_jacobian_delta_preint,
Eigen::MatrixXd &_jacobian_delta) const override;
Eigen::VectorXd & _delta_preint_plus_delta,
Eigen::MatrixXd & _jacobian_delta_preint,
Eigen::MatrixXd & _jacobian_delta) const override;
void statePlusDelta(const VectorComposite &_x,
const Eigen::VectorXd &_delta,
const double _Dt,
VectorComposite &_x_plus_delta) const override;
VectorComposite & _x_plus_delta) const override;
Eigen::VectorXd deltaZero() const override;
Eigen::VectorXd correctDelta(const Eigen::VectorXd &delta_preint,
const Eigen::VectorXd &delta_step) const override;
VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
void setCalibration(const CaptureBasePtr _capture, const VectorXd &_calibration) override;
bool voteForKeyFrame() const override;
CaptureMotionPtr emplaceCapture(const FrameBasePtr &_frame_own,
const SensorBasePtr &_sensor,
const TimeStamp &_ts,
const VectorXd &_data,
const MatrixXd &_data_cov,
const VectorXd &_calib,
const VectorXd &_calib_preint,
CaptureMotionPtr emplaceCapture(const FrameBasePtr & _frame_own,
const SensorBasePtr & _sensor,
const TimeStamp & _ts,
const VectorXd & _data,
const MatrixXd & _data_cov,
const VectorXd & _calib,
const VectorXd & _calib_preint,
const CaptureBasePtr &_capture_origin) override;
virtual void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
......
src/processor/processor_imu_3d.cpp
+ 17
− 17
View file @ 263cb1e1
......@@ -100,13 +100,13 @@ bool ProcessorImu3d::voteForKeyFrame() const
return false;
}
CaptureMotionPtr ProcessorImu3d::emplaceCapture(const FrameBasePtr &_frame_own,
const SensorBasePtr &_sensor,
const TimeStamp &_ts,
const VectorXd &_data,
const MatrixXd &_data_cov,
const VectorXd &_calib,
const VectorXd &_calib_preint,
CaptureMotionPtr ProcessorImu3d::emplaceCapture(const FrameBasePtr & _frame_own,
const SensorBasePtr & _sensor,
const TimeStamp & _ts,
const VectorXd & _data,
const MatrixXd & _data_cov,
const VectorXd & _calib,
const VectorXd & _calib_preint,
const CaptureBasePtr &_capture_origin)
{
auto cap_motion = std::static_pointer_cast<CaptureMotion>(
......@@ -178,9 +178,9 @@ void ProcessorImu3d::computeCurrentDelta(const Eigen::VectorXd &_data,
const Eigen::MatrixXd &_data_cov,
const Eigen::VectorXd &_calib,
const double _dt,
Eigen::VectorXd &_delta,
Eigen::MatrixXd &_delta_cov,
Eigen::MatrixXd &_jac_delta_calib) const
Eigen::VectorXd & _delta,
Eigen::MatrixXd & _delta_cov,
Eigen::MatrixXd & _jac_delta_calib) const
{
assert(_data.size() == data_size_ && "Wrong data size!");
......@@ -219,7 +219,7 @@ void ProcessorImu3d::computeCurrentDelta(const Eigen::VectorXd &_data,
void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
Eigen::VectorXd &_delta_preint_plus_delta) const
Eigen::VectorXd & _delta_preint_plus_delta) const
{
/* MATHS according to Sola-16
* Dp' = Dp + Dv*dt + 1/2*Dq*(a-a_b)*dt^2 = Dp + Dv*dt + Dq*dp if dp =
......@@ -236,7 +236,7 @@ void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
void ProcessorImu3d::statePlusDelta(const VectorComposite &_x,
const Eigen::VectorXd &_delta,
const double _dt,
VectorComposite &_x_plus_delta) const
VectorComposite & _x_plus_delta) const
{
assert(_delta.size() == 10 && "Wrong _delta vector size");
assert(_dt >= 0 && "Time interval _dt is negative!");
......@@ -256,9 +256,9 @@ void ProcessorImu3d::statePlusDelta(const VectorComposite &_x,
void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
Eigen::VectorXd &_delta_preint_plus_delta,
Eigen::MatrixXd &_jacobian_delta_preint,
Eigen::MatrixXd &_jacobian_delta) const
Eigen::VectorXd & _delta_preint_plus_delta,
Eigen::MatrixXd & _jacobian_delta_preint,
Eigen::MatrixXd & _jacobian_delta) const
{
/*
* Expression of the delta integration step, D' = D (+) d:
......@@ -530,8 +530,8 @@ bool ProcessorImu3d::recomputeStates() const
const auto &cap_origin = cap->getOriginCapture();
const auto &frm_origin = cap_origin->getFrame();
const auto &delta = VectorComposite({{'P', ftr->getMeasurement().head<3>()},
{'O', ftr->getMeasurement().segment<4>(3)},
{'V', ftr->getMeasurement().tail<3>()}});
{'O', ftr->getMeasurement().segment<4>(3)},
{'V', ftr->getMeasurement().tail<3>()}});
const auto &x_origin = frm_origin->getState();
auto dt = cap->getTimeStamp() - cap_origin->getTimeStamp();
auto x = imu::composeOverState(x_origin, delta, dt);
......
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