Added non-default const. for AHRS pre-int. and params #93
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dellaert
approved these changes
Jul 30, 2019
| @@ -35,6 +35,13 @@ struct GTSAM_EXPORT PreintegratedRotationParams { | |||
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| PreintegratedRotationParams() : gyroscopeCovariance(I_3x3) {} | |||
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| PreintegratedRotationParams(Matrix3 gyroscope_covariance, | |||
gtsam/navigation/AHRSFactor.h
Outdated
| biasHat_(bias_hat), | ||
| PreintegratedRotation(p, deltaTij, deltaRij, delRdelBiasOmega), | ||
| preintMeasCov_(preint_meas_cov) { | ||
| p_->gyroscopeCovariance = p->getGyroscopeCovariance(); |
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Redundant indeed, base class already copies params as p_(p)
| double deltaTij = 0.02; | ||
| Matrix3 delRdelBiasOmega = Matrix3::Ones()*0.5; | ||
| Matrix3 preintMeasCov = Matrix3::Ones()*0.2; | ||
| gtsam::PreintegratedAhrsMeasurements test_pim( |
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using gtsam and std in test files.
| @@ -119,6 +119,35 @@ TEST( AHRSFactor, PreintegratedMeasurements ) { | |||
| DOUBLES_EQUAL(expectedDeltaT2, actual2.deltaTij(), 1e-6); | |||
| } | |||
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| //****************************************************************************** | |||
| TEST( AHRSFactor, PreintegratedAhrsMeasurementsConstructor ) { | |||
| // Linearization point | |||
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Removed, got copied from above test I think.
| double deltaTij = 0.02; | ||
| Matrix3 delRdelBiasOmega = Matrix3::Ones()*0.5; | ||
| Matrix3 preintMeasCov = Matrix3::Ones()*0.2; | ||
| gtsam::PreintegratedAhrsMeasurements test_pim( |
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test_pim -> actualPim, or just pim
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Hi Frank! I'll take over this PR, Sandro has to take a flight soon 🚀 |
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Thanks Toni ;) |
varunagrawal
added a commit
that referenced
this pull request
Apr 20, 2021
b2144a712 Merge pull request #95 from borglab/feature/empty-str-default-arg 9f1e727d8 Merge pull request #96 from borglab/fix/cmake 97ee2ff0c fix CMake typo 64a599827 support empty strings as default args 7b14ed542 Merge pull request #94 from borglab/fix/cmake-messages 0978641fe clean up 5b9272557 Merge pull request #91 from borglab/feature/enums 56e6f48b3 Merge pull request #93 from borglab/feature/better-template 27cc7cebf better cmake messages a6318b567 fix tests b7f60463f remove export_values() 38304fe0a support for class nested enums 348160740 minor fixes 5b6d66a97 use cpp_class and correct module name 2f7ae0676 add newlines and formatting 6e7cecc50 remove support for enum value assignment c1dc925a6 formatting 798732598 better pybind template f6dad2959 pybind_wrapper fixes with formatting 7b4a06560 Merge branch 'master' into feature/enums 1982b7131 more comprehensive tests for enums 3a0eafd66 code for wrapping enums 398780982 tests for enum support git-subtree-dir: wrap git-subtree-split: b2144a712953dcc3e001c97c2ace791149c97278
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Added non-default constructors for AHRS pre-integration from already pre-integrated measurements. This is helpful for using AHRS factors with already pre-integrated IMU measurements (manifold or tangent pre-integration).
Also added a non-default constructor for the parameters in the AHRS pre-integration (instead of having to use the trivial constructor and parsing the gyro covariance and coriolis term afterwards).
Also added a unit test for the two non-default constructors.
This change is