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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
3e428a80
Commit
3e428a80
authored
6 years ago
by
Joan Vallvé Navarro
Browse files
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Plain Diff
changed isDynamic for isStateBlockDynamic
parent
f117b641
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1 merge request
!243
Constraint prior sensor params
Changes
2
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2 changed files
src/sensor_base.cpp
+18
-26
18 additions, 26 deletions
src/sensor_base.cpp
src/sensor_base.h
+9
-6
9 additions, 6 deletions
src/sensor_base.h
with
27 additions
and
32 deletions
src/sensor_base.cpp
+
18
−
26
View file @
3e428a80
...
...
@@ -342,33 +342,25 @@ ProcessorBasePtr SensorBase::addProcessor(ProcessorBasePtr _proc_ptr)
StateBlockPtr
SensorBase
::
getStateBlockPtrDynamic
(
unsigned
int
_i
)
{
if
((
_i
<
2
&&
this
->
extrinsicsInCaptures
())
||
(
_i
>=
2
&&
intrinsicsInCaptures
()))
{
CaptureBasePtr
cap
=
lastKeyCapture
();
if
(
cap
)
return
cap
->
getStateBlockPtr
(
_i
);
else
return
getStateBlockPtrStatic
(
_i
);
}
else
return
getStateBlockPtrStatic
(
_i
);
CaptureBasePtr
cap
;
if
(
isStateBlockDynamic
(
_i
,
cap
))
return
cap
->
getStateBlockPtr
(
_i
);
return
getStateBlockPtrStatic
(
_i
);
}
StateBlockPtr
SensorBase
::
getStateBlockPtrDynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
)
{
if
((
_i
<
2
&&
this
->
extrinsicsInCaptures
())
||
(
_i
>=
2
&&
intrinsicsInCaptures
()))
{
CaptureBasePtr
cap
=
lastCapture
(
_ts
);
if
(
cap
)
return
cap
->
getStateBlockPtr
(
_i
);
else
return
getStateBlockPtrStatic
(
_i
);
}
else
return
getStateBlockPtrStatic
(
_i
);
CaptureBasePtr
cap
;
if
(
isStateBlockDynamic
(
_i
,
_ts
,
cap
))
return
cap
->
getStateBlockPtr
(
_i
);
return
getStateBlockPtrStatic
(
_i
);
}
bool
SensorBase
::
isDynamic
(
unsigned
int
_i
,
CaptureBasePtr
&
cap
)
const
bool
SensorBase
::
is
StateBlock
Dynamic
(
unsigned
int
_i
,
CaptureBasePtr
&
cap
)
const
{
if
((
_i
<
2
&&
this
->
extrinsicsInCaptures
())
||
(
_i
>=
2
&&
intrinsicsInCaptures
()))
{
...
...
@@ -380,7 +372,7 @@ bool SensorBase::isDynamic(unsigned int _i, CaptureBasePtr& cap) const
return
false
;
}
bool
SensorBase
::
isDynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
,
CaptureBasePtr
&
cap
)
const
bool
SensorBase
::
is
StateBlock
Dynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
,
CaptureBasePtr
&
cap
)
const
{
if
((
_i
<
2
&&
this
->
extrinsicsInCaptures
())
||
(
_i
>=
2
&&
intrinsicsInCaptures
()))
{
...
...
@@ -392,18 +384,18 @@ bool SensorBase::isDynamic(unsigned int _i, const TimeStamp& _ts, CaptureBasePtr
return
false
;
}
bool
SensorBase
::
isDynamic
(
unsigned
int
_i
)
const
bool
SensorBase
::
is
StateBlock
Dynamic
(
unsigned
int
_i
)
const
{
CaptureBasePtr
&
cap
;
return
isDynamic
(
_i
,
cap
);
return
is
StateBlock
Dynamic
(
_i
,
cap
);
}
bool
SensorBase
::
isDynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
)
const
bool
SensorBase
::
is
StateBlock
Dynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
)
const
{
CaptureBasePtr
&
cap
;
return
isDynamic
(
_i
,
_ts
,
cap
);
return
is
StateBlock
Dynamic
(
_i
,
_ts
,
cap
);
}
void
SensorBase
::
setProblem
(
ProblemPtr
_problem
)
...
...
This diff is collapsed.
Click to expand it.
src/sensor_base.h
+
9
−
6
View file @
3e428a80
...
...
@@ -117,10 +117,11 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
void
setStateBlockPtrStatic
(
unsigned
int
_i
,
const
StateBlockPtr
_sb_ptr
);
void
resizeStateBlockVec
(
unsigned
int
_size
);
bool
isDynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
,
CaptureBasePtr
&
cap
)
const
;
bool
isDynamic
(
unsigned
int
_i
,
CaptureBasePtr
&
cap
)
const
;
bool
isDynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
)
const
;
bool
isDynamic
(
unsigned
int
_i
)
const
;
bool
isStateBlockDynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
,
CaptureBasePtr
&
cap
)
const
;
bool
isStateBlockDynamic
(
unsigned
int
_i
,
CaptureBasePtr
&
cap
)
const
;
bool
isStateBlockDynamic
(
unsigned
int
_i
,
const
TimeStamp
&
_ts
)
const
;
bool
isStateBlockDynamic
(
unsigned
int
_i
)
const
;
StateBlockPtr
getPPtr
(
const
TimeStamp
_ts
);
StateBlockPtr
getOPtr
(
const
TimeStamp
_ts
);
StateBlockPtr
getIntrinsicPtr
(
const
TimeStamp
_ts
);
...
...
@@ -138,6 +139,7 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
void
unfixExtrinsics
();
void
fixIntrinsics
();
void
unfixIntrinsics
();
/** \brief Add an absolute constraint to a parameter
*
* Add an absolute constraint to a parameter
...
...
@@ -198,6 +200,7 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
const
Eigen
::
MatrixXs
&
_cov
,
unsigned
int
_start_idx
=
0
,
int
_size
=
-
1
);
SizeEigen
getCalibSize
()
const
;
Eigen
::
VectorXs
getCalibration
()
const
;
...
...
@@ -323,7 +326,7 @@ inline void SensorBase::addParameterPrior(const unsigned int _i, const TimeStamp
{
CaptureBasePtr
cap
;
// i is dynamic? //TODO
if
(
isDynamic
(
_i
,
_ts
,
cap
))
if
(
is
StateBlock
Dynamic
(
_i
,
_ts
,
cap
))
addParameterDynamicPrior
(
cap
,
cap
->
getStateBlockPtr
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
else
addParameterStaticPrior
(
getStateBlockPtrStatic
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
...
...
@@ -334,7 +337,7 @@ inline void SensorBase::addParameterPrior(const unsigned int _i, const Eigen::Ve
{
CaptureBasePtr
cap
;
// i is dynamic? //TODO
if
(
isDynamic
(
_i
,
cap
))
if
(
is
StateBlock
Dynamic
(
_i
,
cap
))
addParameterDynamicPrior
(
cap
,
cap
->
getStateBlockPtr
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
else
addParameterStaticPrior
(
getStateBlockPtrStatic
(
_i
),
_x
,
_cov
,
_start_idx
,
_size
);
...
...
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