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mobile_robotics
wolf_projects
wolf_lib
plugins
imu
Commits
e0aa7bc8
Commit
e0aa7bc8
authored
4 years ago
by
Joan Vallvé Navarro
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Merge branch 'devel' into processor_imu2d
parents
65146de1
3090592b
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3 merge requests
!39
release after RAL
,
!38
After 2nd RAL submission
,
!23
Processor imu2d
Changes
3
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.gitignore
+1
-0
1 addition, 0 deletions
.gitignore
include/imu/factor/factor_fix_bias.h
+1
-5
1 addition, 5 deletions
include/imu/factor/factor_fix_bias.h
include/imu/factor/factor_imu.h
+1
-5
1 addition, 5 deletions
include/imu/factor/factor_imu.h
with
3 additions
and
10 deletions
.gitignore
+
1
−
0
View file @
e0aa7bc8
...
...
@@ -40,3 +40,4 @@ imu.found
compile_commands.json
.vimspector.json
est.csv
/imu.found
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include/imu/factor/factor_fix_bias.h
+
1
−
5
View file @
e0aa7bc8
...
...
@@ -21,6 +21,7 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
public:
FactorFixBias
(
FeatureBasePtr
_ftr_ptr
,
bool
_apply_loss_function
,
FactorStatus
_status
=
FAC_ACTIVE
)
:
FactorAutodiff
<
FactorFixBias
,
6
,
3
,
3
>
(
"FactorFixBias"
,
TOP_ABS
,
_ftr_ptr
,
nullptr
,
nullptr
,
nullptr
,
nullptr
,
nullptr
,
...
...
@@ -34,11 +35,6 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
virtual
~
FactorFixBias
()
=
default
;
virtual
std
::
string
getTopology
()
const
override
{
return
std
::
string
(
"ABS"
);
}
template
<
typename
T
>
bool
operator
()(
const
T
*
const
_ab
,
const
T
*
const
_wb
,
T
*
_residuals
)
const
;
...
...
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include/imu/factor/factor_imu.h
+
1
−
5
View file @
e0aa7bc8
...
...
@@ -25,11 +25,6 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>
~
FactorImu
()
override
=
default
;
std
::
string
getTopology
()
const
override
{
return
std
::
string
(
"MOTION"
);
}
/** \brief : compute the residual from the state blocks being iterated by the solver.
-> computes the expected measurement
-> corrects actual measurement with new bias
...
...
@@ -163,6 +158,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr,
FactorStatus
_status
)
:
FactorAutodiff
<
FactorImu
,
15
,
3
,
4
,
3
,
6
,
3
,
4
,
3
,
6
>
(
// ...
"FactorImu"
,
TOP_MOTION
,
_ftr_ptr
,
_cap_origin_ptr
->
getFrame
(),
_cap_origin_ptr
,
...
...
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