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wolf_projects
wolf_lib
wolf
Commits
efff4f1e
Commit
efff4f1e
authored
8 years ago
by
Joan Solà Ortega
Browse files
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Add operations of IMU deltas with states
composeWithState() is x2 = x1+d betweenStates() is d=x2-x1
parent
1b2fa60f
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2 changed files
src/imu_tools.h
+70
-3
70 additions, 3 deletions
src/imu_tools.h
src/test/gtest_imu_tools.cpp
+29
-0
29 additions, 0 deletions
src/test/gtest_imu_tools.cpp
with
99 additions
and
3 deletions
src/imu_tools.h
+
70
−
3
View file @
efff4f1e
...
@@ -83,9 +83,6 @@ inline void compose(const MatrixBase<D1>& d1,
...
@@ -83,9 +83,6 @@ inline void compose(const MatrixBase<D1>& d1,
sum_q
=
dq1
*
dq2
;
// dq here to avoid possible aliasing between d1 and sum
sum_q
=
dq1
*
dq2
;
// dq here to avoid possible aliasing between d1 and sum
}
}
template
<
typename
D1
,
typename
D2
>
inline
void
a
()
{}
template
<
typename
D1
,
typename
D2
>
template
<
typename
D1
,
typename
D2
>
inline
Matrix
<
typename
D1
::
Scalar
,
10
,
1
>
compose
(
const
MatrixBase
<
D1
>&
d1
,
inline
Matrix
<
typename
D1
::
Scalar
,
10
,
1
>
compose
(
const
MatrixBase
<
D1
>&
d1
,
const
MatrixBase
<
D2
>&
d2
,
const
MatrixBase
<
D2
>&
d2
,
...
@@ -177,6 +174,76 @@ inline Matrix<typename D1::Scalar, 10, 1> between(const MatrixBase<D1>& d1,
...
@@ -177,6 +174,76 @@ inline Matrix<typename D1::Scalar, 10, 1> between(const MatrixBase<D1>& d1,
return
d_bet
;
return
d_bet
;
}
}
template
<
typename
D1
,
typename
D2
,
typename
D3
>
inline
void
composeOverState
(
const
MatrixBase
<
D1
>&
x
,
const
MatrixBase
<
D2
>&
d
,
Scalar
dt
,
MatrixBase
<
D3
>&
x_plus_d
)
{
MatrixSizeCheck
<
10
,
1
>::
check
(
x
);
MatrixSizeCheck
<
10
,
1
>::
check
(
d
);
MatrixSizeCheck
<
10
,
1
>::
check
(
x_plus_d
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
p
(
&
x
(
0
)
);
Map
<
const
Quaternion
<
typename
D1
::
Scalar
>
>
q
(
&
x
(
3
)
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
v
(
&
x
(
7
)
);
Map
<
const
Matrix
<
typename
D2
::
Scalar
,
3
,
1
>
>
dp
(
&
d
(
0
)
);
Map
<
const
Quaternion
<
typename
D2
::
Scalar
>
>
dq
(
&
d
(
3
)
);
Map
<
const
Matrix
<
typename
D2
::
Scalar
,
3
,
1
>
>
dv
(
&
d
(
7
)
);
Map
<
Matrix
<
typename
D3
::
Scalar
,
3
,
1
>
>
p_plus_d
(
&
x_plus_d
(
0
));
Map
<
Quaternion
<
typename
D3
::
Scalar
>
>
q_plus_d
(
&
x_plus_d
(
3
));
Map
<
Matrix
<
typename
D3
::
Scalar
,
3
,
1
>
>
v_plus_d
(
&
x_plus_d
(
7
));
p_plus_d
=
p
+
v
*
dt
+
0.5
*
gravity
()
*
dt
*
dt
+
q
*
dp
;
v_plus_d
=
v
+
gravity
()
*
dt
+
q
*
dv
;
q_plus_d
=
q
*
dq
;
// dq here to avoid possible aliasing between x and x_plus_d
}
template
<
typename
D1
,
typename
D2
>
inline
Matrix
<
typename
D1
::
Scalar
,
10
,
1
>
composeOverState
(
const
MatrixBase
<
D1
>&
x
,
const
MatrixBase
<
D2
>&
d
,
Scalar
dt
)
{
Matrix
<
typename
D1
::
Scalar
,
10
,
1
>
ret
;
composeOverState
(
x
,
d
,
dt
,
ret
);
return
ret
;
}
template
<
typename
D1
,
typename
D2
,
typename
D3
>
inline
void
betweenStates
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
Scalar
dt
,
MatrixBase
<
D3
>&
x2_minus_x1
)
{
MatrixSizeCheck
<
10
,
1
>::
check
(
x1
);
MatrixSizeCheck
<
10
,
1
>::
check
(
x2
);
MatrixSizeCheck
<
10
,
1
>::
check
(
x2_minus_x1
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
p1
(
&
x1
(
0
)
);
Map
<
const
Quaternion
<
typename
D1
::
Scalar
>
>
q1
(
&
x1
(
3
)
);
Map
<
const
Matrix
<
typename
D1
::
Scalar
,
3
,
1
>
>
v1
(
&
x1
(
7
)
);
Map
<
const
Matrix
<
typename
D2
::
Scalar
,
3
,
1
>
>
p2
(
&
x2
(
0
)
);
Map
<
const
Quaternion
<
typename
D2
::
Scalar
>
>
q2
(
&
x2
(
3
)
);
Map
<
const
Matrix
<
typename
D2
::
Scalar
,
3
,
1
>
>
v2
(
&
x2
(
7
)
);
Map
<
Matrix
<
typename
D3
::
Scalar
,
3
,
1
>
>
dp
(
&
x2_minus_x1
(
0
));
Map
<
Quaternion
<
typename
D3
::
Scalar
>
>
dq
(
&
x2_minus_x1
(
3
));
Map
<
Matrix
<
typename
D3
::
Scalar
,
3
,
1
>
>
dv
(
&
x2_minus_x1
(
7
));
dp
=
q1
.
conjugate
()
*
(
p2
-
p1
-
v1
*
dt
-
0.5
*
gravity
()
*
dt
*
dt
);
dq
=
q1
.
conjugate
()
*
q2
;
dv
=
q1
.
conjugate
()
*
(
v2
-
v1
-
gravity
()
*
dt
);
}
template
<
typename
D1
,
typename
D2
>
inline
Matrix
<
typename
D1
::
Scalar
,
10
,
1
>
betweenStates
(
const
MatrixBase
<
D1
>&
x1
,
const
MatrixBase
<
D2
>&
x2
,
Scalar
dt
)
{
Matrix
<
typename
D1
::
Scalar
,
10
,
1
>
ret
;
betweenStates
(
x1
,
x2
,
dt
,
ret
);
return
ret
;
}
template
<
typename
Derived
>
template
<
typename
Derived
>
Matrix
<
typename
Derived
::
Scalar
,
9
,
1
>
lift
(
const
MatrixBase
<
Derived
>&
delta_in
)
Matrix
<
typename
Derived
::
Scalar
,
9
,
1
>
lift
(
const
MatrixBase
<
Derived
>&
delta_in
)
{
{
...
...
This diff is collapsed.
Click to expand it.
src/test/gtest_imu_tools.cpp
+
29
−
0
View file @
efff4f1e
...
@@ -79,6 +79,35 @@ TEST(IMU_tools, compose_between)
...
@@ -79,6 +79,35 @@ TEST(IMU_tools, compose_between)
ASSERT_MATRIX_APPROX
(
diff
,
imu
::
inverse
(
d2
,
dt
),
1e-10
);
ASSERT_MATRIX_APPROX
(
diff
,
imu
::
inverse
(
d2
,
dt
),
1e-10
);
}
}
TEST
(
IMU_tools
,
compose_between_with_state
)
{
VectorXs
x
(
10
),
d
(
10
),
x2
(
10
),
x3
(
10
),
d2
(
10
),
d3
(
10
);
Vector4s
qv
;
Scalar
dt
=
0.1
;
qv
=
(
Vector4s
()
<<
3
,
4
,
5
,
6
).
finished
().
normalized
();
x
<<
0
,
1
,
2
,
qv
,
7
,
8
,
9
;
qv
=
(
Vector4s
()
<<
6
,
5
,
4
,
3
).
finished
().
normalized
();
d
<<
9
,
8
,
7
,
qv
,
2
,
1
,
0
;
imu
::
composeOverState
(
x
,
d
,
dt
,
x2
);
x3
=
imu
::
composeOverState
(
x
,
d
,
dt
);
ASSERT_MATRIX_APPROX
(
x3
,
x2
,
1e-10
);
// betweenStates(x, x2) should recover d
imu
::
betweenStates
(
x
,
x2
,
dt
,
d2
);
d3
=
imu
::
betweenStates
(
x
,
x2
,
dt
);
ASSERT_MATRIX_APPROX
(
d2
,
d
,
1e-10
);
ASSERT_MATRIX_APPROX
(
d3
,
d
,
1e-10
);
ASSERT_MATRIX_APPROX
(
imu
::
betweenStates
(
x
,
x2
,
dt
),
d
,
1e-10
);
// x + (x2 - x) = x2
ASSERT_MATRIX_APPROX
(
imu
::
composeOverState
(
x
,
imu
::
betweenStates
(
x
,
x2
,
dt
),
dt
),
x2
,
1e-10
);
// (x + d) - x = d
ASSERT_MATRIX_APPROX
(
imu
::
betweenStates
(
x
,
imu
::
composeOverState
(
x
,
d
,
dt
),
dt
),
d
,
1e-10
);
}
TEST
(
IMU_tools
,
lift_retract
)
TEST
(
IMU_tools
,
lift_retract
)
{
{
VectorXs
d_min
(
9
);
d_min
<<
0
,
1
,
2
,
.3
,
.4
,
.5
,
6
,
7
,
8
;
// use angles in the ball theta < pi
VectorXs
d_min
(
9
);
d_min
<<
0
,
1
,
2
,
.3
,
.4
,
.5
,
6
,
7
,
8
;
// use angles in the ball theta < pi
...
...
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Click to expand it.
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