//------------------------------------------------------------------------------
void ManifoldPreintegration::update(const Vector3& measuredAcc,
const Vector3& measuredOmega, const double dt, Matrix9* A, Matrix93* B,
Matrix93* C) {
// Correct for bias in the sensor frame
Vector3 acc = biasHat_.correctAccelerometer(measuredAcc);
Vector3 omega = biasHat_.correctGyroscope(measuredOmega);
// Possibly correct for sensor pose
Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega;
if (p().body_P_sensor)
boost::tie(acc, omega) = correctMeasurementsBySensorPose(acc, omega,
D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega);
// Save current rotation for updating Jacobians
const Rot3 oldRij = deltaXij_.attitude();
// Do update
deltaTij_ += dt;
deltaXij_ = deltaXij_.update(acc, omega, dt, A, B, C); // functional
if (p().body_P_sensor) {
// More complicated derivatives in case of non-trivial sensor pose
*C *= D_correctedOmega_omega;
if (!p().body_P_sensor->translation().isZero())
*C += *B * D_correctedAcc_omega;
*B *= D_correctedAcc_acc; // NOTE(frank): needs to be last
}
// Update Jacobians
// TODO(frank): Try same simplification as in new approach
Matrix3 D_acc_R;
oldRij.rotate(acc, D_acc_R);
const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_;
const Vector3 integratedOmega = omega * dt;
Matrix3 D_incrR_integratedOmega;
const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !!
const Matrix3 incrRt = incrR.transpose();
delRdelBiasOmega_ = incrRt * delRdelBiasOmega_ - D_incrR_integratedOmega * dt;
double dt22 = 0.5 * dt * dt;
const Matrix3 dRij = oldRij.matrix(); // expensive
delPdelBiasAcc_ += delVdelBiasAcc_ * dt - dt22 * dRij;
delPdelBiasOmega_ += dt * delVdelBiasOmega_ + dt22 * D_acc_biasOmega;
delVdelBiasAcc_ += -dRij * dt;
delVdelBiasOmega_ += D_acc_biasOmega * dt;
}
//------------------------------------------------------------------------------
void PreintegrationBase::update(const Vector3& j_measuredAcc,
const Vector3& j_measuredOmega, const double dt,
Matrix3* D_incrR_integratedOmega, Matrix9* D_updated_current,
Matrix93* D_updated_measuredAcc, Matrix93* D_updated_measuredOmega) {
// Save current rotation for updating Jacobians
const Rot3 oldRij = deltaXij_.attitude();
// Do update
deltaTij_ += dt;
deltaXij_ = updatedDeltaXij(j_measuredAcc, j_measuredOmega, dt,
D_updated_current, D_updated_measuredAcc, D_updated_measuredOmega); // functional
// Update Jacobians
// TODO(frank): we are repeating some computation here: accessible in F ?
Vector3 j_correctedAcc, j_correctedOmega;
boost::tie(j_correctedAcc, j_correctedOmega) =
correctMeasurementsByBiasAndSensorPose(j_measuredAcc, j_measuredOmega);
Matrix3 D_acc_R;
oldRij.rotate(j_correctedAcc, D_acc_R);
const Matrix3 D_acc_biasOmega = D_acc_R * delRdelBiasOmega_;
const Vector3 integratedOmega = j_correctedOmega * dt;
const Rot3 incrR = Rot3::Expmap(integratedOmega, D_incrR_integratedOmega); // expensive !!
const Matrix3 incrRt = incrR.transpose();
delRdelBiasOmega_ = incrRt * delRdelBiasOmega_
- *D_incrR_integratedOmega * dt;
double dt22 = 0.5 * dt * dt;
const Matrix3 dRij = oldRij.matrix(); // expensive
delPdelBiasAcc_ += delVdelBiasAcc_ * dt - dt22 * dRij;
delPdelBiasOmega_ += dt * delVdelBiasOmega_ + dt22 * D_acc_biasOmega;
delVdelBiasAcc_ += -dRij * dt;
delVdelBiasOmega_ += D_acc_biasOmega * dt;
}
