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imu
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mobile_robotics
wolf_projects
wolf_lib
plugins
imu
Commits
3d29a70a
Commit
3d29a70a
authored
5 years ago
by
Médéric Fourmy
Browse files
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Merge remote-tracking branch 'origin/imu_preintegration_Lie' into imu_preintegration_Lie
parents
c2f650c3
d9ed52ea
Branches
imu_preintegration_Lie
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include/IMU/math/IMU_tools_Lie.h
+119
-91
119 additions, 91 deletions
include/IMU/math/IMU_tools_Lie.h
test/gtest_IMU_tools_Lie.cpp
+8
-0
8 additions, 0 deletions
test/gtest_IMU_tools_Lie.cpp
with
127 additions
and
91 deletions
include/IMU/math/IMU_tools_Lie.h
+
119
−
91
View file @
3d29a70a
...
@@ -45,89 +45,6 @@ namespace wolf
...
@@ -45,89 +45,6 @@ namespace wolf
namespace
imu_with_dt
{
namespace
imu_with_dt
{
using
namespace
Eigen
;
using
namespace
Eigen
;
template
<
typename
D
>
inline
Matrix
<
typename
D
::
Scalar
,
5
,
5
>
hat
(
const
MatrixBase
<
D
>&
tau
)
{
// tagent space element vector form to matrix form
MatrixSizeCheck
<
10
,
1
>::
check
(
tau
);
typedef
typename
D
::
Scalar
T
;
Map
<
const
Matrix
<
T
,
3
,
1
>
>
dp
(
&
tau
(
0
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
doo
(
&
tau
(
3
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
dv
(
&
tau
(
6
)
);
T
&
dt
=
tau
(
9
);
Matrix
<
T
,
5
,
5
>
ret
;
ret
.
setZero
();
ret
.
block
(
0
,
0
,
3
,
3
)
=
skew
(
doo
);
ret
.
block
(
0
,
3
,
3
,
1
)
=
dv
;
ret
.
block
(
0
,
4
,
3
,
1
)
=
dp
;
ret
.
block
(
1
,
4
,
3
,
1
)
=
dt
;
return
ret
;
}
template
<
typename
D1
,
typename
D2
>
inline
void
adjoint
(
const
MatrixBase
<
D1
>&
delta
,
MatrixBase
<
D2
>&
adjd
)
{
MatrixSizeCheck
<
11
,
1
>::
check
(
delta
);
MatrixSizeCheck
<
10
,
10
>::
check
(
adjd
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
deltap
(
&
delta
(
0
)
);
Map
<
const
Quaternion
<
typename
D1
::
Scalar
>
>
deltaq
(
&
delta
(
3
)
);
Matrix
<
typename
D1
::
Scalar
,
3
,
3
>
deltaR
=
q2R
(
deltaq
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
deltav
(
&
delta
(
7
)
);
const
typename
D1
::
Scalar
&
deltat
=
delta
(
10
);
// pqvt impl (in paper: pvqt)
adjd
.
setIdentity
();
adjd
.
block
(
0
,
0
,
3
,
3
)
=
deltaR
;
adjd
.
block
(
0
,
3
,
3
,
3
)
=
skew
(
deltap
-
deltav
*
deltat
)
*
deltaR
;
adjd
.
block
(
0
,
6
,
3
,
3
)
=
-
deltaR
*
deltat
;
adjd
.
block
(
0
,
9
,
3
,
1
)
=
deltav
;
adjd
.
block
(
3
,
3
,
3
,
3
)
=
deltaR
;
adjd
.
block
(
6
,
3
,
3
,
3
)
=
skew
(
deltav
)
*
deltaR
;
adjd
.
block
(
6
,
6
,
3
,
3
)
=
deltaR
;
}
template
<
typename
D
>
inline
Matrix
<
typename
D
::
Scalar
,
10
,
10
>
adjoint
(
const
MatrixBase
<
D
>&
delta
){
Matrix
<
typename
D
::
Scalar
,
10
,
10
>
adjd
;
adjoint
(
delta
,
adjd
);
return
adjd
;
}
template
<
typename
D1
,
typename
D2
>
inline
Matrix
<
typename
D1
::
Scalar
,
11
,
1
>
smalladjoint
(
const
MatrixBase
<
D1
>
d
,
MatrixBase
<
D1
>
sadjd
)
{
MatrixSizeCheck
<
10
,
1
>::
check
(
d
);
MatrixSizeCheck
<
10
,
10
>::
check
(
sadjd
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
dp
(
&
d
(
0
)
);
Map
<
const
Quaternion
<
typename
D1
::
Scalar
>
>
doo
(
&
d
(
3
)
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
dv
(
&
d
(
6
)
);
const
typename
D1
::
Scalar
&
dt
=
d
(
9
);
const
Matrix
<
typename
D1
::
Scalar
,
3
,
3
>
Id3
=
Matrix
<
typename
D1
::
Scalar
,
3
,
3
>::
identity
(
3
,
3
);
const
Matrix
<
typename
D1
::
Scalar
,
3
,
3
>
dox
=
skew
(
doo
);
// pqvt impl (in paper: pvqt)
sadjd
.
setIdentity
();
sadjd
.
block
(
0
,
0
,
3
,
3
)
=
dox
;
sadjd
.
block
(
0
,
3
,
3
,
3
)
=
skew
(
dp
);
sadjd
.
block
(
0
,
6
,
3
,
3
)
=
-
Id3
*
dt
;
sadjd
.
block
(
0
,
9
,
3
,
1
)
=
dv
;
sadjd
.
block
(
3
,
3
,
3
,
3
)
=
dox
;
sadjd
.
block
(
6
,
3
,
3
,
3
)
=
skew
(
dv
);
sadjd
.
block
(
6
,
6
,
3
,
3
)
=
dox
;
return
sadjd
;
}
template
<
typename
D1
,
typename
D2
,
typename
D3
,
typename
T
>
template
<
typename
D1
,
typename
D2
,
typename
D3
,
typename
T
>
inline
void
identity
(
MatrixBase
<
D1
>&
p
,
QuaternionBase
<
D2
>&
q
,
MatrixBase
<
D3
>&
v
,
T
&
dt
)
inline
void
identity
(
MatrixBase
<
D1
>&
p
,
QuaternionBase
<
D2
>&
q
,
MatrixBase
<
D3
>&
v
,
T
&
dt
)
{
{
...
@@ -265,6 +182,116 @@ inline Matrix<typename D1::Scalar, 11, 1> compose(const MatrixBase<D1>& delta1,
...
@@ -265,6 +182,116 @@ inline Matrix<typename D1::Scalar, 11, 1> compose(const MatrixBase<D1>& delta1,
return
ret
;
return
ret
;
}
}
template
<
typename
D1
,
typename
D2
>
inline
void
adjoint
(
const
MatrixBase
<
D1
>&
d
,
MatrixBase
<
D2
>&
adjd
)
{
MatrixSizeCheck
<
11
,
1
>::
check
(
d
);
MatrixSizeCheck
<
10
,
10
>::
check
(
adjd
);
// Adjoint matrix associated to the adjoint operator
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
dp
(
&
d
(
0
)
);
Map
<
const
Quaternion
<
typename
D1
::
Scalar
>
>
dq
(
&
d
(
3
)
);
Matrix
<
typename
D1
::
Scalar
,
3
,
3
>
dR
=
q2R
(
dq
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
dv
(
&
d
(
7
)
);
const
typename
D1
::
Scalar
&
dt
=
d
(
10
);
// pqvt impl
adjd
.
setIdentity
();
adjd
.
block
(
0
,
0
,
3
,
3
)
=
dR
;
adjd
.
block
(
0
,
3
,
3
,
3
)
=
skew
(
dp
-
dv
*
dt
)
*
dR
;
adjd
.
block
(
0
,
6
,
3
,
3
)
=
-
dR
*
dt
;
adjd
.
block
(
0
,
9
,
3
,
1
)
=
dv
;
adjd
.
block
(
3
,
3
,
3
,
3
)
=
dR
;
adjd
.
block
(
6
,
3
,
3
,
3
)
=
skew
(
dv
)
*
dR
;
adjd
.
block
(
6
,
6
,
3
,
3
)
=
dR
;
}
template
<
typename
D
>
inline
Matrix
<
typename
D
::
Scalar
,
10
,
10
>
adjoint
(
const
MatrixBase
<
D
>&
delta
){
Matrix
<
typename
D
::
Scalar
,
10
,
10
>
adjd
;
adjoint
(
delta
,
adjd
);
return
adjd
;
}
template
<
typename
D
>
inline
Matrix
<
typename
D
::
Scalar
,
5
,
5
>
hat
(
const
MatrixBase
<
D
>
tau
)
{
MatrixSizeCheck
<
10
,
1
>::
check
(
tau
);
typedef
typename
D
::
Scalar
T
;
Map
<
const
Matrix
<
T
,
3
,
1
>
>
p
(
&
tau
(
0
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
th
(
&
tau
(
3
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
v
(
&
tau
(
6
)
);
const
T
&
t
=
tau
(
9
);
Matrix
<
T
,
5
,
5
>
taux
;
taux
.
setZero
();
taux
.
block
<
3
,
3
>
(
0
,
0
)
=
skew
(
th
);
taux
.
block
<
3
,
1
>
(
0
,
3
)
=
v
;
taux
.
block
<
3
,
1
>
(
0
,
4
)
=
p
;
taux
.
block
<
3
,
1
>
(
3
,
4
)
=
t
;
return
taux
;
}
template
<
typename
D
>
inline
Matrix
<
typename
D
::
Scalar
,
10
,
1
>
vee
(
const
MatrixBase
<
D
>
taux
)
{
MatrixSizeCheck
<
5
,
5
>::
check
(
taux
);
Matrix
<
typename
D
::
Scalar
,
5
,
5
>
tau
;
tau
.
segment
<
3
>
(
0
)
=
taux
.
block
<
3
,
1
>
(
0
,
4
);
// p
tau
.
segment
<
3
>
(
3
)
=
vee
(
taux
.
block
<
3
,
3
>
(
0
,
0
));
// th
tau
.
segment
<
3
>
(
6
)
=
taux
.
block
<
3
,
1
>
(
0
,
3
);
// v
tau
(
9
)
=
taux
(
3
,
4
);
// t
return
tau
;
}
template
<
typename
D
>
inline
Matrix
<
typename
D
::
Scalar
,
10
,
10
>
smalladjoint
(
const
MatrixBase
<
D
>
tau
)
{
MatrixSizeCheck
<
10
,
1
>::
check
(
tau
);
typedef
typename
D
::
Scalar
T
;
Map
<
const
Matrix
<
T
,
3
,
1
>
>
p
(
&
tau
(
0
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
th
(
&
tau
(
3
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
v
(
&
tau
(
6
)
);
const
T
&
t
=
tau
(
9
);
// Adjoint matrix associated to the adjoint operator
Matrix
<
T
,
3
,
3
>
px
=
skew
(
p
);
Matrix
<
T
,
3
,
3
>
thx
=
skew
(
th
);
Matrix
<
T
,
3
,
3
>
vx
=
skew
(
v
);
Matrix
<
T
,
10
,
10
>
adj
;
adj
.
setZero
();
/* Attention to variable order in the adjoint!
*
* Paper: PVOT = 0639
* WOLF: POVT = 0369
*
*/
adj
.
block
<
3
,
3
>
(
0
,
0
)
=
thx
;
// 0,0 in paper
adj
.
block
<
3
,
3
>
(
0
,
3
)
=
px
;
// 0,6 in paper
adj
.
block
<
3
,
3
>
(
0
,
6
)
=
-
Matrix
<
T
,
3
,
3
>::
Identity
()
*
t
;
// 0,3 in paper
adj
.
block
<
3
,
1
>
(
0
,
9
)
=
v
;
// 0,9 in paper
adj
.
block
<
3
,
3
>
(
3
,
3
)
=
thx
;
// 6,6 in paper
adj
.
block
<
3
,
3
>
(
6
,
3
)
=
vx
;
// 3,6 in paper
adj
.
block
<
3
,
3
>
(
6
,
6
)
=
thx
;
// 3,3 in paper
return
adj
;
}
template
<
typename
D1
,
typename
D2
,
typename
D3
,
typename
D4
,
typename
D5
>
template
<
typename
D1
,
typename
D2
,
typename
D3
,
typename
D4
,
typename
D5
>
inline
void
compose
(
const
MatrixBase
<
D1
>&
delta1
,
inline
void
compose
(
const
MatrixBase
<
D1
>&
delta1
,
const
MatrixBase
<
D2
>&
delta2
,
const
MatrixBase
<
D2
>&
delta2
,
...
@@ -472,7 +499,7 @@ inline void QandPmat(const MatrixBase<D1>& th, MatrixBase<D2>& Q, MatrixBase<D3>
...
@@ -472,7 +499,7 @@ inline void QandPmat(const MatrixBase<D1>& th, MatrixBase<D2>& Q, MatrixBase<D3>
Q
=
Id
Q
=
Id
+
((
1
-
cos_thn
)
/
thn
)
*
ux
+
((
1
-
cos_thn
)
/
thn
)
*
ux
+
((
thn
-
sin_thn
)
/
thn
2
)
*
(
ux2
);
+
((
thn
-
sin_thn
)
/
thn
)
*
(
ux2
);
P
=
0.5
*
Id
P
=
0.5
*
Id
+
((
thn
-
sin_thn
)
/
thn2
)
*
ux
+
((
thn
-
sin_thn
)
/
thn2
)
*
ux
...
@@ -487,17 +514,18 @@ Matrix<typename Derived::Scalar, 11, 1> exp_IMU(const MatrixBase<Derived>& d_in)
...
@@ -487,17 +514,18 @@ Matrix<typename Derived::Scalar, 11, 1> exp_IMU(const MatrixBase<Derived>& d_in)
MatrixSizeCheck
<
10
,
1
>::
check
(
d_in
);
MatrixSizeCheck
<
10
,
1
>::
check
(
d_in
);
typedef
typename
Derived
::
Scalar
T
;
typedef
typename
Derived
::
Scalar
T
;
Matrix
<
T
,
11
,
1
>
ret
;
// TODO: solve strange compilation error
Map
<
const
Matrix
<
T
,
3
,
1
>
>
dp_in
(
&
d_in
(
0
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
dp_in
(
&
d_in
(
0
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
do_in
(
&
d_in
(
3
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
do_in
(
&
d_in
(
3
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
dv_in
(
&
d_in
(
6
)
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
dv_in
(
&
d_in
(
6
)
);
const
T
&
dt_in
=
d_in
(
9
);
const
T
&
dt_in
=
d_in
(
9
);
Map
<
Matrix
<
T
,
3
,
1
>
>
dp_ret
(
&
ret
(
0
)
);
Map
<
Quaternion
<
T
>
>
dq_ret
(
&
ret
(
3
)
);
Matrix
<
T
,
11
,
1
>
ret
;
Map
<
Matrix
<
T
,
3
,
1
>
>
dv_ret
(
&
ret
(
7
)
);
T
&
dt_ret
=
ret
(
10
);
Map
<
Matrix
<
T
,
3
,
1
>
>
dp_ret
(
&
ret
(
0
)
);
Map
<
Quaternion
<
T
>
>
dq_ret
(
&
ret
(
3
)
);
Map
<
Matrix
<
T
,
3
,
1
>
>
dv_ret
(
&
ret
(
7
)
);
T
&
dt_ret
=
ret
(
10
);
Matrix
<
T
,
3
,
3
>
Q
;
Matrix
<
T
,
3
,
3
>
Q
;
Matrix
<
T
,
3
,
3
>
P
;
Matrix
<
T
,
3
,
3
>
P
;
...
...
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test/gtest_IMU_tools_Lie.cpp
+
8
−
0
View file @
3d29a70a
...
@@ -169,16 +169,24 @@ TEST(IMU_tools, plus_diff)
...
@@ -169,16 +169,24 @@ TEST(IMU_tools, plus_diff)
TEST
(
IMU_tools
,
adjoint
)
TEST
(
IMU_tools
,
adjoint
)
{
{
VectorXs
delta1
(
11
),
delta2
(
11
);
VectorXs
delta1
(
11
),
delta2
(
11
);
VectorXs
tau
(
10
);
Vector4s
qv1
=
(
Vector4s
()
<<
3
,
4
,
5
,
6
).
finished
().
normalized
();
Vector4s
qv1
=
(
Vector4s
()
<<
3
,
4
,
5
,
6
).
finished
().
normalized
();
Vector4s
qv2
=
(
Vector4s
()
<<
6
,
5
,
4
,
3
).
finished
().
normalized
();
Vector4s
qv2
=
(
Vector4s
()
<<
6
,
5
,
4
,
3
).
finished
().
normalized
();
delta1
<<
0
,
1
,
2
,
qv1
,
7
,
8
,
9
,
0.1
;
delta1
<<
0
,
1
,
2
,
qv1
,
7
,
8
,
9
,
0.1
;
delta2
<<
10
,
11
,
12
,
qv2
,
17
,
18
,
19
,
0.3
;
delta2
<<
10
,
11
,
12
,
qv2
,
17
,
18
,
19
,
0.3
;
tau
<<
.1
,
.2
,
.3
,
-
.1
,
-
.2
,
-
.3
,
.3
,
.2
,
.1
,
0.1
;
// From the definition
// From the definition
// From direct properties
// From direct properties
ASSERT_MATRIX_APPROX
(
adjoint
(
delta1
).
inverse
(),
adjoint
(
inverse
(
delta1
)),
1e-10
);
ASSERT_MATRIX_APPROX
(
adjoint
(
delta1
).
inverse
(),
adjoint
(
inverse
(
delta1
)),
1e-10
);
ASSERT_MATRIX_APPROX
(
adjoint
(
compose
(
delta1
,
delta2
)),
adjoint
(
delta1
)
*
adjoint
(
delta2
),
1e-10
);
ASSERT_MATRIX_APPROX
(
adjoint
(
compose
(
delta1
,
delta2
)),
adjoint
(
delta1
)
*
adjoint
(
delta2
),
1e-10
);
MatrixXs
tau2
=
adjoint
(
delta1
)
*
tau
;
// MatrixXs d3 = compose(delta1, exp_IMU(tau));
// MatrixXs d4 = compose(exp_IMU(tau2),delta1);
ASSERT_MATRIX_APPROX
(
compose
(
delta1
,
exp_IMU
(
tau
)),
compose
(
exp_IMU
(
tau2
),
delta1
),
1e-10
);
// ASSERT_MATRIX_APPROX(compose(delta1, exp_IMU(tau2)), compose(exp_IMU(tau),delta1), 1e-10);
}
}
TEST
(
IMU_tools
,
smalladjoint
)
TEST
(
IMU_tools
,
smalladjoint
)
...
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