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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
d9b175c1
Commit
d9b175c1
authored
4 years ago
by
Joan Solà Ortega
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Remove noise params from ProcessorOdom3d
parent
a688748f
No related branches found
No related tags found
1 merge request
!388
Resolve "Simplifying delta covariance in ProcessorOdom2/3D"
Changes
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3 changed files
include/core/processor/processor_odom_3d.h
+0
-7
0 additions, 7 deletions
include/core/processor/processor_odom_3d.h
src/processor/processor_odom_3d.cpp
+1
-13
1 addition, 13 deletions
src/processor/processor_odom_3d.cpp
test/gtest_processor_odom_3d.cpp
+3
-16
3 additions, 16 deletions
test/gtest_processor_odom_3d.cpp
with
4 additions
and
36 deletions
include/core/processor/processor_odom_3d.h
+
0
−
7
View file @
d9b175c1
...
...
@@ -114,13 +114,6 @@ class ProcessorOdom3d : public ProcessorMotion
protected:
ParamsProcessorOdom3dPtr
params_odom_3d_
;
// noise parameters (stolen from owner SensorOdom3d)
double
k_disp_to_disp_
;
// displacement variance growth per meter of linear motion
double
k_disp_to_rot_
;
// orientation variance growth per meter of linear motion
double
k_rot_to_rot_
;
// orientation variance growth per radian of rotational motion
double
min_disp_var_
;
// floor displacement variance when no motion
double
min_rot_var_
;
// floor orientation variance when no motion
};
inline
Eigen
::
VectorXd
ProcessorOdom3d
::
deltaZero
()
const
...
...
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Click to expand it.
src/processor/processor_odom_3d.cpp
+
1
−
13
View file @
d9b175c1
...
...
@@ -6,12 +6,7 @@ namespace wolf
ProcessorOdom3d
::
ProcessorOdom3d
(
ParamsProcessorOdom3dPtr
_params
)
:
ProcessorMotion
(
"ProcessorOdom3d"
,
"PO"
,
3
,
7
,
7
,
6
,
6
,
0
,
_params
),
params_odom_3d_
(
_params
),
k_disp_to_disp_
(
0
),
k_disp_to_rot_
(
0
),
k_rot_to_rot_
(
0
),
min_disp_var_
(
0.1
),
// around 10cm error
min_rot_var_
(
0.1
)
// around 6 degrees error
params_odom_3d_
(
_params
)
{
// Set constant parts of Jacobians
jacobian_delta_preint_
.
setIdentity
(
6
,
6
);
...
...
@@ -29,13 +24,6 @@ void ProcessorOdom3d::configure(SensorBasePtr _sensor)
assert
(
_sensor
&&
"Trying to configure processor with a sensor but provided sensor is nullptr."
);
SensorOdom3dPtr
sen_ptr
=
std
::
static_pointer_cast
<
SensorOdom3d
>
(
_sensor
);
// we steal the parameters from the provided odom3d sensor.
k_disp_to_disp_
=
sen_ptr
->
getDispVarToDispNoiseFactor
();
k_disp_to_rot_
=
sen_ptr
->
getDispVarToRotNoiseFactor
();
k_rot_to_rot_
=
sen_ptr
->
getRotVarToRotNoiseFactor
();
min_disp_var_
=
sen_ptr
->
getMinDispVar
();
min_rot_var_
=
sen_ptr
->
getMinRotVar
();
}
void
ProcessorOdom3d
::
computeCurrentDelta
(
const
Eigen
::
VectorXd
&
_data
,
...
...
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test/gtest_processor_odom_3d.cpp
+
3
−
16
View file @
d9b175c1
...
...
@@ -44,18 +44,10 @@ class ProcessorOdom3dTest : public ProcessorOdom3d
{
public:
ProcessorOdom3dTest
();
// getters :-D !!
double
&
kdd
()
{
return
k_disp_to_disp_
;}
double
&
kdr
()
{
return
k_disp_to_rot_
;}
double
&
krr
()
{
return
k_rot_to_rot_
;}
double
&
dvar_min
()
{
return
min_disp_var_
;}
double
&
rvar_min
()
{
return
min_rot_var_
;}
};
ProcessorOdom3dTest
::
ProcessorOdom3dTest
()
:
ProcessorOdom3d
(
std
::
make_shared
<
ParamsProcessorOdom3d
>
())
{
dvar_min
()
=
0.5
;
rvar_min
()
=
0.25
;
//
}
TEST
(
ProcessorOdom3d
,
computeCurrentDelta
)
...
...
@@ -76,11 +68,8 @@ TEST(ProcessorOdom3d, computeCurrentDelta)
delta
.
head
<
3
>
()
=
delta_dp
;
delta
.
tail
<
4
>
()
=
delta_dq
.
coeffs
();
// construct covariance from processor parameters and motion magnitudes
double
disp
=
data_dp
.
norm
();
double
rot
=
data_do
.
norm
();
double
dvar
=
prc
.
dvar_min
()
+
prc
.
kdd
()
*
disp
;
double
rvar
=
prc
.
rvar_min
()
+
prc
.
kdr
()
*
disp
+
prc
.
krr
()
*
rot
;
double
dvar
=
0.1
;
double
rvar
=
0.2
;
Vector6d
diag
;
diag
<<
dvar
,
dvar
,
dvar
,
rvar
,
rvar
,
rvar
;
Matrix6d
data_cov
=
diag
.
asDiagonal
();
Matrix6d
delta_cov
=
data_cov
;
...
...
@@ -119,8 +108,6 @@ TEST(ProcessorOdom3d, deltaPlusDelta)
prc
.
deltaPlusDelta
(
D
,
d
,
dt
,
D_int
);
ASSERT_MATRIX_APPROX
(
D_int
,
D_int_check
,
1e-10
);
// << "\nDpd : " << D_int.transpose()
// << "\ncheck: " << D_int_check.transpose();
}
TEST
(
ProcessorOdom3d
,
deltaPlusDelta_Jac
)
...
...
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