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mobile_robotics
wolf_projects
wolf_lib
plugins
imu
Commits
43384f8f
Commit
43384f8f
authored
5 years ago
by
Joan Solà Ortega
Browse files
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delta operators are const
parent
1d8a6436
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3 merge requests
!39
release after RAL
,
!38
After 2nd RAL submission
,
!11
Add const
Changes
2
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2 changed files
include/IMU/processor/processor_IMU.h
+4
-4
4 additions, 4 deletions
include/IMU/processor/processor_IMU.h
src/processor/processor_IMU.cpp
+4
-4
4 additions, 4 deletions
src/processor/processor_IMU.cpp
with
8 additions
and
8 deletions
include/IMU/processor/processor_IMU.h
+
4
−
4
View file @
43384f8f
...
@@ -45,21 +45,21 @@ class ProcessorIMU : public ProcessorMotion{
...
@@ -45,21 +45,21 @@ class ProcessorIMU : public ProcessorMotion{
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_delta
,
Eigen
::
VectorXs
&
_delta
,
Eigen
::
MatrixXs
&
_delta_cov
,
Eigen
::
MatrixXs
&
_delta_cov
,
Eigen
::
MatrixXs
&
_jacobian_calib
)
override
;
Eigen
::
MatrixXs
&
_jacobian_calib
)
const
override
;
virtual
void
deltaPlusDelta
(
const
Eigen
::
VectorXs
&
_delta_preint
,
virtual
void
deltaPlusDelta
(
const
Eigen
::
VectorXs
&
_delta_preint
,
const
Eigen
::
VectorXs
&
_delta
,
const
Eigen
::
VectorXs
&
_delta
,
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_delta_preint_plus_delta
)
override
;
Eigen
::
VectorXs
&
_delta_preint_plus_delta
)
const
override
;
virtual
void
deltaPlusDelta
(
const
Eigen
::
VectorXs
&
_delta_preint
,
virtual
void
deltaPlusDelta
(
const
Eigen
::
VectorXs
&
_delta_preint
,
const
Eigen
::
VectorXs
&
_delta
,
const
Eigen
::
VectorXs
&
_delta
,
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_delta_preint_plus_delta
,
Eigen
::
VectorXs
&
_delta_preint_plus_delta
,
Eigen
::
MatrixXs
&
_jacobian_delta_preint
,
Eigen
::
MatrixXs
&
_jacobian_delta_preint
,
Eigen
::
MatrixXs
&
_jacobian_delta
)
override
;
Eigen
::
MatrixXs
&
_jacobian_delta
)
const
override
;
virtual
void
statePlusDelta
(
const
Eigen
::
VectorXs
&
_x
,
virtual
void
statePlusDelta
(
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
VectorXs
&
_delta
,
const
Eigen
::
VectorXs
&
_delta
,
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_x_plus_delta
)
override
;
Eigen
::
VectorXs
&
_x_plus_delta
)
const
override
;
virtual
Eigen
::
VectorXs
deltaZero
()
const
override
;
virtual
Eigen
::
VectorXs
deltaZero
()
const
override
;
virtual
bool
voteForKeyFrame
()
override
;
virtual
bool
voteForKeyFrame
()
override
;
virtual
CaptureMotionPtr
emplaceCapture
(
const
FrameBasePtr
&
_frame_own
,
virtual
CaptureMotionPtr
emplaceCapture
(
const
FrameBasePtr
&
_frame_own
,
...
...
This diff is collapsed.
Click to expand it.
src/processor/processor_IMU.cpp
+
4
−
4
View file @
43384f8f
...
@@ -105,7 +105,7 @@ void ProcessorIMU::computeCurrentDelta(const Eigen::VectorXs& _data,
...
@@ -105,7 +105,7 @@ void ProcessorIMU::computeCurrentDelta(const Eigen::VectorXs& _data,
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_delta
,
Eigen
::
VectorXs
&
_delta
,
Eigen
::
MatrixXs
&
_delta_cov
,
Eigen
::
MatrixXs
&
_delta_cov
,
Eigen
::
MatrixXs
&
_jac_delta_calib
)
Eigen
::
MatrixXs
&
_jac_delta_calib
)
const
{
{
assert
(
_data
.
size
()
==
data_size_
&&
"Wrong data size!"
);
assert
(
_data
.
size
()
==
data_size_
&&
"Wrong data size!"
);
...
@@ -144,7 +144,7 @@ void ProcessorIMU::computeCurrentDelta(const Eigen::VectorXs& _data,
...
@@ -144,7 +144,7 @@ void ProcessorIMU::computeCurrentDelta(const Eigen::VectorXs& _data,
void
ProcessorIMU
::
deltaPlusDelta
(
const
Eigen
::
VectorXs
&
_delta_preint
,
void
ProcessorIMU
::
deltaPlusDelta
(
const
Eigen
::
VectorXs
&
_delta_preint
,
const
Eigen
::
VectorXs
&
_delta
,
const
Eigen
::
VectorXs
&
_delta
,
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_delta_preint_plus_delta
)
Eigen
::
VectorXs
&
_delta_preint_plus_delta
)
const
{
{
/* MATHS according to Sola-16
/* MATHS according to Sola-16
* Dp' = Dp + Dv*dt + 1/2*Dq*(a-a_b)*dt^2 = Dp + Dv*dt + Dq*dp if dp = 1/2*(a-a_b)*dt^2
* Dp' = Dp + Dv*dt + 1/2*Dq*(a-a_b)*dt^2 = Dp + Dv*dt + Dq*dp if dp = 1/2*(a-a_b)*dt^2
...
@@ -159,7 +159,7 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
...
@@ -159,7 +159,7 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
void
ProcessorIMU
::
statePlusDelta
(
const
Eigen
::
VectorXs
&
_x
,
void
ProcessorIMU
::
statePlusDelta
(
const
Eigen
::
VectorXs
&
_x
,
const
Eigen
::
VectorXs
&
_delta
,
const
Eigen
::
VectorXs
&
_delta
,
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_x_plus_delta
)
Eigen
::
VectorXs
&
_x_plus_delta
)
const
{
{
assert
(
_x
.
size
()
==
10
&&
"Wrong _x vector size"
);
assert
(
_x
.
size
()
==
10
&&
"Wrong _x vector size"
);
assert
(
_delta
.
size
()
==
10
&&
"Wrong _delta vector size"
);
assert
(
_delta
.
size
()
==
10
&&
"Wrong _delta vector size"
);
...
@@ -174,7 +174,7 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
...
@@ -174,7 +174,7 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXs& _delta_preint,
const
Scalar
_dt
,
const
Scalar
_dt
,
Eigen
::
VectorXs
&
_delta_preint_plus_delta
,
Eigen
::
VectorXs
&
_delta_preint_plus_delta
,
Eigen
::
MatrixXs
&
_jacobian_delta_preint
,
Eigen
::
MatrixXs
&
_jacobian_delta_preint
,
Eigen
::
MatrixXs
&
_jacobian_delta
)
Eigen
::
MatrixXs
&
_jacobian_delta
)
const
{
{
/*
/*
* Expression of the delta integration step, D' = D (+) d:
* Expression of the delta integration step, D' = D (+) d:
...
...
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