Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
wolf
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD 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
wolf
Commits
f5980d6c
Commit
f5980d6c
authored
5 years ago
by
Joan Solà Ortega
Browse files
Options
Downloads
Plain Diff
Merge branch 'devel' into 287-tris
parents
c8907d60
8c691915
No related branches found
Branches containing commit
No related tags found
Tags containing commit
1 merge request
!358
WIP: Resolve "Complete state vector new data structure?"
Pipeline
#5344
failed
5 years ago
Changes
1
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
Showing
1 changed file
demos/hello_wolf/hello_wolf_autoconf.cpp
+68
-61
68 additions, 61 deletions
demos/hello_wolf/hello_wolf_autoconf.cpp
with
68 additions
and
61 deletions
demos/hello_wolf/hello_wolf_autoconf.cpp
+
68
−
61
View file @
f5980d6c
...
@@ -275,72 +275,79 @@ int main()
...
@@ -275,72 +275,79 @@ int main()
*
*
* P: wolf tree status ---------------------
* P: wolf tree status ---------------------
Hardware
Hardware
S1 ODOM 2d // Sensor 1, type ODOMETRY 2d.
Sen1 SensorOdom2d "sen odom" // Sensor 1, type odometry 2D
Extr [Sta] = [ Fix( 0 0 ) Fix( 0 ) ] // Static extrinsics, fixed position, fixed orientation (See notes 1 and 2 below)
sb: P[Sta,Fix] = ( 0 0 ); O[Sta,Fix] = ( 0 ); // Static extrinsics, fixed position, fixed orientation (See notes 1 and 2 below)
Intr [Sta] = [ ] // Static intrinsics, but no intrinsics anyway
PrcM1 ProcessorOdom2d "prc odom" // Processor 1, type odometry 2D
pm1 ODOM 2d // Processor 1, type ODOMETRY 2d
o: Cap6 - KFrm3 // origin at Capture 6, Frame 3
o: C7 - F3 // origin at Capture 7, Frame 3
l: Cap8 - Frm4 // last at Capture 8, Frame 4
l: C10 - F4 // last at Capture 10, frame 4
Sen2 SensorRangeBearing "sen rb" // Sensor 2, type range and bearing
S2 RANGE BEARING // Sensor 2, type RANGE and BEARING.
sb: P[Sta,Fix] = ( 1 1 ); O[Sta,Fix] = ( 0 ); // Static extrinsics, fixed position, estimated orientation (See notes 1 and 2 below)
Extr [Sta] = [ Fix( 1 1 ) Est( 0 ) ] // Static extrinsics, fixed position, estimated orientation (See notes 1 and 2 below)
Prc2 ProcessorRangeBearing "prc rb" // Processor 2, type rande and bearing
Intr [Sta] = [ ] // Static intrinsics, but no intrinsics anyway
pt2 RANGE BEARING // Processor 2: type Range and Bearing
Trajectory
Trajectory
KF1 <-- c3 // KeyFrame 1, constrained by Factor 3
KFrm1 <-- Fac4 //KeyFrame 1, constrained by Factor 4
Est, ts=0, x = ( -1.6e-13 9.4e-11 1.4e-10 ) // State is estimated; time stamp and state vector
P[Est] = ( -4.4e-12 1.5e-09 ) //Position is estimated
sb: Est Est // State's pos and orient are estimated
O[Est] = ( 2.6e-09 ) //Orientation is estimated
C1 FIX -> S- [ <-- // Capture 1, type FIX or Absolute
Cap1 CaptureVoid -> Sen- <-- // This is an "artificial" capture used to hold the features relative to the prior
f1 FIX <-- // Feature 1, type Fix
Ftr1 trk0 prior <-- // Position prior
m = ( 0 0 0 ) // The absolute measurement for this frame is (0,0,0) --> origin
m = ( 0 0 )
c1 FIX --> A // Factor 1, type FIX, it is Absolute
Fac1 FactorBlockAbsolute --> Abs
CM2 ODOM 2d -> S1 [Sta, Sta] <-- // Capture 2, type ODOM, from Sensor 1 (static extr and intr)
Ftr2 trk0 prior <-- // Orientation prior
C5 RANGE BEARING -> S2 [Sta, Sta] <-- // Capture 5, type R+B, from Sensor 2 (static extr and intr)
m = ( 0 )
f2 RANGE BEARING <-- // Feature 2, type R+B
Fac2 FactorBlockAbsolute --> Abs
m = ( 1 1.57 ) // The feature's measurement is 1m, 1.57rad
CapM2 CaptureOdom2d -> Sen1 <-- // Capture 2 of type motion odom 2d from sensor 1.
c2 RANGE BEARING --> L1 // Factor 2 against Landmark 1
buffer size : 0
KF2 <-- c6
Cap4 CaptureRangeBearing -> Sen2 <--
Est, ts=1, x = ( 1 2.5e-10 1.6e-10 )
Ftr3 trk0 FeatureRangeBearing <--
sb: Est Est
m = ( 1 1.6 )
CM3 ODOM 2d -> S1 [Sta, Sta] <--
Fac3 RANGE BEARING --> Lmk1
f3 ODOM 2d <--
KFrm2 <-- Fac7
P[Est] = ( 1 5.7e-09 )
O[Est] = ( 5.7e-09 )
CapM3 CaptureOdom2d -> Sen1 -> OCap2 ; OFrm1 <-- // Capture 3 of type motion odom2d from sensor 1.
// Its origin is at Capture 2; Frame 1
buffer size : 2
delta preint : (1 0 0)
Ftr4 trk0 ProcessorOdom2d <--
m = ( 1 0 0 )
m = ( 1 0 0 )
c3 ODOM 2d --> F1 // Factor 3, type ODOM, against Frame 1
Fac4 FactorOdom2d --> Frm1
C9 RANGE BEARING -> S2 [Sta, Sta] <--
Cap7 CaptureRangeBearing -> Sen2 <--
f4 RANGE BEARING <--
Ftr5 trk0 FeatureRangeBearing <--
m = ( 1.41 2.36 )
m = ( 1.4 2.4 )
c4 RANGE BEARING --> L1
Fac5 RANGE BEARING --> Lmk1
f5 RANGE BEARING <--
Ftr6 trk0 FeatureRangeBearing <--
m = ( 1 1.57 )
m = ( 1 1.6 )
c5 RANGE BEARING --> L2
Fac6 RANGE BEARING --> Lmk2
KF3 <--
KFrm3 <--
Est, ts=2, x = ( 2 4.1e-10 1.7e-10 )
P[Est] = ( 2 1.2e-08 )
sb: Est Est
O[Est] = ( 6.6e-09 )
CM7 ODOM 2d -> S1 [Sta, Sta] <--
CapM6 CaptureOdom2d -> Sen1 -> OCap3 ; OFrm2 <--
f6 ODOM 2d <--
buffer size : 2
delta preint : (1 0 0)
Ftr7 trk0 ProcessorOdom2d <--
m = ( 1 0 0 )
m = ( 1 0 0 )
c6 ODOM 2d --> F2
Fac7 FactorOdom2d --> Frm2
C12 RANGE BEARING -> S2 [Sta, Sta] <--
Cap9 CaptureRangeBearing -> Sen2 <--
f7 RANGE BEARING <--
Ftr8 trk0 FeatureRangeBearing <--
m = ( 1.41 2.36 )
m = ( 1.4 2.4 )
c7 RANGE BEARING --> L2
Fac8 RANGE BEARING --> Lmk2
f8 RANGE BEARING <--
Ftr9 trk0 FeatureRangeBearing <--
m = ( 1 1.57 )
m = ( 1 1.6 )
c8 RANGE BEARING --> L3
Fac9 RANGE BEARING --> Lmk3
F4 <--
Frm4 <--
Est, ts=2, x = ( 0.11 -0.045 0.26 )
P[Est] = ( 2 0 )
sb: Est Est
O[Est] = ( 0 )
CM10 ODOM 2d -> S1 [Sta, Sta] <--
CapM8 CaptureOdom2d -> Sen1 -> OCap6 ; OFrm3 <--
buffer size : 1
delta preint : (0 0 0)
Map
Map
L1 POINT 2d <-- c2 c4 // Landmark 1, constrained by Factors 2 and 4
Lmk1 LandmarkPoint2d <-- Fac3 Fac5 // Landmark 1 constrained by facotrs 3 & 5
Est, x = ( 1 2 ) // L4 state is estimated, state vector
P[Est] = ( 1 2 )
sb: Est // L4 has 1 state block estimated
Lmk2 LandmarkPoint2d <-- Fac6 Fac8
L2 POINT 2d <-- c5 c7
P[Est] = ( 2 2 )
Est, x = ( 2 2 )
Lmk3 LandmarkPoint2d <-- Fac9
sb: Est
P[Est] = ( 3 2 )
L3 POINT 2d <-- c8
Est, x = ( 3 2 )
sb: Est
-----------------------------------------
-----------------------------------------
*
*
* ============= GENERAL WOLF NOTES ==================
* ============= GENERAL WOLF NOTES ==================
*
*
...
...
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