Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
I
imu
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Deploy
Releases
Model registry
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
mobile_robotics
wolf_projects
wolf_lib
plugins
imu
Commits
c2f650c3
Commit
c2f650c3
authored
5 years ago
by
Médéric Fourmy
Browse files
Options
Downloads
Patches
Plain Diff
plus diff jacobians WIP, weird compilation error on plus
parent
5f72621e
No related branches found
Branches containing commit
No related tags found
Tags containing commit
No related merge requests found
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
include/IMU/math/IMU_tools_Lie.h
+84
-59
84 additions, 59 deletions
include/IMU/math/IMU_tools_Lie.h
test/gtest_IMU_tools_Lie.cpp
+32
-7
32 additions, 7 deletions
test/gtest_IMU_tools_Lie.cpp
with
116 additions
and
66 deletions
include/IMU/math/IMU_tools_Lie.h
+
84
−
59
View file @
c2f650c3
...
@@ -45,6 +45,89 @@ namespace wolf
...
@@ -45,6 +45,89 @@ 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
)
{
{
...
@@ -182,65 +265,6 @@ inline Matrix<typename D1::Scalar, 11, 1> compose(const MatrixBase<D1>& delta1,
...
@@ -182,65 +265,6 @@ 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
>&
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
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
,
...
@@ -465,6 +489,7 @@ Matrix<typename Derived::Scalar, 11, 1> exp_IMU(const MatrixBase<Derived>& d_in)
...
@@ -465,6 +489,7 @@ Matrix<typename Derived::Scalar, 11, 1> exp_IMU(const MatrixBase<Derived>& d_in)
Matrix
<
T
,
11
,
1
>
ret
;
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
)
);
...
...
This diff is collapsed.
Click to expand it.
test/gtest_IMU_tools_Lie.cpp
+
32
−
7
View file @
c2f650c3
...
@@ -153,7 +153,7 @@ TEST(IMU_tools, lift_retract)
...
@@ -153,7 +153,7 @@ TEST(IMU_tools, lift_retract)
ASSERT_MATRIX_APPROX
(
delta_from_d
,
delta
,
1e-10
);
ASSERT_MATRIX_APPROX
(
delta_from_d
,
delta
,
1e-10
);
}
}
TEST
(
IMU_tools
,
plus_
minus
)
TEST
(
IMU_tools
,
plus_
diff
)
{
{
VectorXs
delta1
(
11
),
delta2
(
11
),
delta2_eq
(
11
);
VectorXs
delta1
(
11
),
delta2
(
11
),
delta2_eq
(
11
);
VectorXs
err
(
10
),
err_0
(
10
);
VectorXs
err
(
10
),
err_0
(
10
);
...
@@ -174,10 +174,24 @@ TEST(IMU_tools, adjoint)
...
@@ -174,10 +174,24 @@ TEST(IMU_tools, adjoint)
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
;
// From the definition
// 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
);
}
}
TEST
(
IMU_tools
,
smalladjoint
)
{
VectorXs
delta1
(
11
),
delta2
(
11
);
Vector4s
qv1
=
(
Vector4s
()
<<
3
,
4
,
5
,
6
).
finished
().
normalized
();
Vector4s
qv2
=
(
Vector4s
()
<<
6
,
5
,
4
,
3
).
finished
().
normalized
();
delta1
<<
0
,
1
,
2
,
qv1
,
7
,
8
,
9
,
0.1
;
delta2
<<
10
,
11
,
12
,
qv2
,
17
,
18
,
19
,
0.3
;
// From the definition
}
// TEST(IMU_tools, plus)
// TEST(IMU_tools, plus)
// {
// {
...
@@ -218,9 +232,6 @@ TEST(IMU_tools, adjoint)
...
@@ -218,9 +232,6 @@ TEST(IMU_tools, adjoint)
// ASSERT_MATRIX_APPROX(err, diff(delta1, delta3), 1e-10);
// ASSERT_MATRIX_APPROX(err, diff(delta1, delta3), 1e-10);
// }
// }
TEST
(
IMU_tools
,
compose_jacobians
)
TEST
(
IMU_tools
,
compose_jacobians
)
{
{
VectorXs
delta1
(
11
),
delta2
(
11
),
delta3
(
11
);
// deltas
VectorXs
delta1
(
11
),
delta2
(
11
),
delta3
(
11
);
// deltas
...
@@ -238,6 +249,19 @@ TEST(IMU_tools, compose_jacobians)
...
@@ -238,6 +249,19 @@ TEST(IMU_tools, compose_jacobians)
// analytical jacobians
// analytical jacobians
compose
(
delta1
,
delta2
,
delta3
,
J_comp_delta1
,
J_comp_delta2
);
compose
(
delta1
,
delta2
,
delta3
,
J_comp_delta1
,
J_comp_delta2
);
J_comp_delta1
.
setIdentity
();
J_comp_delta2
.
setIdentity
();
// std::cout << plus(delta2, tau) << std::endl;
auto
tautau
=
J_comp_delta1
*
tau
;
std
::
cout
<<
tau
<<
std
::
endl
;
std
::
cout
<<
tautau
<<
std
::
endl
;
std
::
cout
<<
plus
(
delta2
,
tau
)
<<
std
::
endl
;
// No compilation error
// std::cout << plus(delta2, tautau) << std::endl; // COMPILATION ERROR -> TODO
// std::cout << plus(delta1, J_comp_delta1*tau) << std::endl;
// That first order approximation holds TODO -> comp problem!
// That first order approximation holds TODO -> comp problem!
// ASSERT_MATRIX_APPROX(compose(plus(delta1, tau), delta2), plus(compose(delta1, delta2), J_comp_delta1*tau), 1e-4);
// ASSERT_MATRIX_APPROX(compose(plus(delta1, tau), delta2), plus(compose(delta1, delta2), J_comp_delta1*tau), 1e-4);
// ASSERT_MATRIX_APPROX(compose(delta1, plus(delta2, tau)), plus(compose(delta1, delta2), J_comp_delta2*tau), 1e-4);
// ASSERT_MATRIX_APPROX(compose(delta1, plus(delta2, tau)), plus(compose(delta1, delta2), J_comp_delta2*tau), 1e-4);
...
@@ -245,6 +269,7 @@ TEST(IMU_tools, compose_jacobians)
...
@@ -245,6 +269,7 @@ TEST(IMU_tools, compose_jacobians)
TEST
(
IMU_tools
,
diff_jacobians
)
TEST
(
IMU_tools
,
diff_jacobians
)
{
{
// !!! WRONG JACOBIANS but still works... Bad test?
VectorXs
delta1
(
11
),
delta2
(
11
),
err
(
10
);
// deltas and err
VectorXs
delta1
(
11
),
delta2
(
11
),
err
(
10
);
// deltas and err
VectorXs
tau
(
10
);
// small tangent space element
VectorXs
tau
(
10
);
// small tangent space element
tau
.
setOnes
();
tau
.
setOnes
();
...
@@ -261,9 +286,9 @@ TEST(IMU_tools, diff_jacobians)
...
@@ -261,9 +286,9 @@ TEST(IMU_tools, diff_jacobians)
// analytical jacobians
// analytical jacobians
diff
(
delta1
,
delta2
,
err
,
J_diff_delta1
,
J_diff_delta2
);
diff
(
delta1
,
delta2
,
err
,
J_diff_delta1
,
J_diff_delta2
);
// check that numerical and analytical match
// check that numerical and analytical match
-> WRONG Checksize
ASSERT_MATRIX_APPROX
(
diff
(
plus
(
delta1
,
tau
),
delta2
),
plus
(
diff
(
delta1
,
delta2
)
,
J_diff_delta1
*
tau
)
,
1e-4
);
ASSERT_MATRIX_APPROX
(
diff
(
plus
(
delta1
,
tau
),
delta2
),
diff
(
delta1
,
delta2
)
+
J_diff_delta1
*
tau
,
1e-4
);
ASSERT_MATRIX_APPROX
(
diff
(
delta1
,
plus
(
delta2
,
tau
)),
plus
(
diff
(
delta1
,
delta2
)
,
J_diff_delta2
*
tau
)
,
1e-4
);
ASSERT_MATRIX_APPROX
(
diff
(
delta1
,
plus
(
delta2
,
tau
)),
diff
(
delta1
,
delta2
)
+
J_diff_delta2
*
tau
,
1e-4
);
}
}
// TEST(IMU_tools, body2delta_jacobians)
// TEST(IMU_tools, body2delta_jacobians)
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment