mars::BodyvelSensorClass Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/sensors/bodyvel/bodyvel_sensor_class.h>

Inheritance diagram for mars::BodyvelSensorClass:

Collaboration diagram for mars::BodyvelSensorClass:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BodyvelSensorClass (const std::string &name, std::shared_ptr< CoreState > core_states)
virtual	~BodyvelSensorClass ()=default
BodyvelSensorStateType	get_state (const std::shared_ptr< void > &sensor_data)
Eigen::MatrixXd	get_covariance (const std::shared_ptr< void > &sensor_data)
	get_covariance Resolves a void pointer to the covariance matrix of the corresponding sensor type Each sensor is responsible to cast its own data type
void	set_initial_calib (std::shared_ptr< void > calibration)
	set_initial_calib Sets the calibration of an individual sensor
BufferDataType	Initialize (const Time &timestamp, std::shared_ptr< void >, std::shared_ptr< CoreType > latest_core_data)
	Initialize the state of an individual sensor.
bool	CalcUpdate (const Time &, std::shared_ptr< void > measurement, const CoreStateType &prior_core_state, std::shared_ptr< void > latest_sensor_data, const Eigen::MatrixXd &prior_cov, BufferDataType *new_state_data)
	CalcUpdate Calculates the update for an individual sensor definition.
BodyvelSensorStateType	ApplyCorrection (const BodyvelSensorStateType &prior_sensor_state, const Eigen::MatrixXd &correction)
Public Member Functions inherited from mars::SensorInterface
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~SensorInterface ()=default

Additional Inherited Members
Public Attributes inherited from mars::UpdateSensorAbsClass
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	aux_states_
int	aux_error_states_
int	ref_to_nav_
Eigen::MatrixXd	residual_
Eigen::VectorXd	R_
	Measurement noise "squared".
Eigen::MatrixXd	F_
Eigen::MatrixXd	H_
Eigen::MatrixXd	Q_
std::shared_ptr< void >	initial_calib_ { nullptr }
bool	initial_calib_provided_ { false }
	True if an initial calibration was provided.
Chi2	chi2_
std::shared_ptr< CoreState >	core_states_
Public Attributes inherited from mars::SensorAbsClass
int	id_ { -1 }
std::string	name_
	Name of the individual sensor instance.
bool	is_initialized_ { false }
	True if the sensor has been initialized.
bool	do_update_ { true }
	True if updates should be performed with the sensor.
int	type_ { -1 }
	Future feature, holds information such as position or orientation for highlevel decissions.
bool	const_ref_to_nav_ { true }
	True if the reference should not be estimated.
bool	ref_to_nav_given_ { false }
	True if the reference to the navigation frame is given by initial calibration.
bool	use_dynamic_meas_noise_ { false }
	True if dynamic noise values from measurements should be used.

Constructor & Destructor Documentation

BodyvelSensorClass()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::BodyvelSensorClass::BodyvelSensorClass ( const std::string &  name, std::shared_ptr< CoreState >  core_states  )

inline

  {
    name_ = name;
    core_states_ = std::move(core_states);
    const_ref_to_nav_ = false;
    initial_calib_provided_ = false;
 
    // chi2
    chi2_.set_dof(3);
 
    std::cout << "Created: [" << this->name_ << "] Sensor" << std::endl;
  }

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~BodyvelSensorClass()

virtual mars::BodyvelSensorClass::~BodyvelSensorClass ( )

virtualdefault

Member Function Documentation

get_state()

BodyvelSensorStateType mars::BodyvelSensorClass::get_state ( const std::shared_ptr< void > &  sensor_data )

inline

  {
    BodyvelSensorData data = *static_cast<BodyvelSensorData*>(sensor_data.get());
    return data.state_;
  }

get_covariance()

Eigen::MatrixXd mars::BodyvelSensorClass::get_covariance ( const std::shared_ptr< void > &  sensor_data )

inlinevirtual

get_covariance Resolves a void pointer to the covariance matrix of the corresponding sensor type Each sensor is responsible to cast its own data type

Parameters

sensor_data

Returns

Covariance matrix contained in the sensor data struct

Implements mars::SensorInterface.

  {
    BodyvelSensorData data = *static_cast<BodyvelSensorData*>(sensor_data.get());
    return data.get_full_cov();
  }

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set_initial_calib()

void mars::BodyvelSensorClass::set_initial_calib ( std::shared_ptr< void >  calibration )

inlinevirtual

set_initial_calib Sets the calibration of an individual sensor

Parameters

calibration

Implements mars::SensorInterface.

  {
    initial_calib_ = calibration;
    initial_calib_provided_ = true;
  }

Initialize()

BufferDataType mars::BodyvelSensorClass::Initialize ( const Time &  timestamp, std::shared_ptr< void >  measurement, std::shared_ptr< CoreType >  latest_core_data  )

inlinevirtual

Initialize the state of an individual sensor.

Parameters

timestamp	current timestamp
measurement	current sensor measurement
latest_core_data

Returns

Implements mars::SensorInterface.

  {
    // BodyvelMeasurementType measurement = *static_cast<BodyvelMeasurementType*>(sensor_data.get());
 
    BodyvelSensorData sensor_state;
    std::string calibration_type;
 
    if (this->initial_calib_provided_)
    {
      calibration_type = "Given";
 
      BodyvelSensorData calib = *static_cast<BodyvelSensorData*>(initial_calib_.get());
 
      sensor_state.state_ = calib.state_;
      sensor_state.sensor_cov_ = calib.sensor_cov_;
    }
    else
    {
      calibration_type = "Auto";
 
      std::cout << "Bodyvel calibration AUTO init not implemented yet" << std::endl;
      exit(EXIT_FAILURE);
    }
 
    // Bypass core state for the returned object
    BufferDataType result(std::make_shared<CoreType>(*latest_core_data.get()),
                          std::make_shared<BodyvelSensorData>(sensor_state));
 
    is_initialized_ = true;
 
    std::cout << "Info: Initialized [" << name_ << "] with [" << calibration_type << "] Calibration at t=" << timestamp
              << std::endl;
 
    if (!initial_calib_provided_)
    {
      std::cout << "Info: [" << name_ << "] Calibration(rounded):" << std::endl;
      std::cout << "\tPosition[m]: [" << sensor_state.state_.p_ib_.transpose() << " ]" << std::endl;
      std::cout << "\tOrientation[deg]: ["
                << sensor_state.state_.q_ib_.toRotationMatrix().eulerAngles(0, 1, 2).transpose() * (180 / M_PI) << " ]"
                << std::endl;
    }
 
    return result;
  }

CalcUpdate()

bool mars::BodyvelSensorClass::CalcUpdate ( const Time &  timestamp, std::shared_ptr< void >  measurement, const CoreStateType &  prior_core_state_data, std::shared_ptr< void >  latest_sensor_data, const Eigen::MatrixXd &  prior_cov, BufferDataType *  new_state_data  )

inlinevirtual

CalcUpdate Calculates the update for an individual sensor definition.

Parameters

timestamp	current timestamp
measurement	current sensor measurement
prior_core_state_data
latest_sensor_data
prior_cov	Prior covariance containing core, sensor and sensor cross covariance
new_state_data	Updated state data

Returns

True if the update was successful, false if the update was rejected

Implements mars::SensorInterface.

  {
    // Cast the sensor measurement and prior state information
    BodyvelMeasurementType* meas = static_cast<BodyvelMeasurementType*>(measurement.get());
    BodyvelSensorData* prior_sensor_data = static_cast<BodyvelSensorData*>(latest_sensor_data.get());
 
    // Decompose sensor measurement
    Eigen::Vector3d v_meas = meas->velocity_;
 
    // Extract sensor state
    BodyvelSensorStateType prior_sensor_state(prior_sensor_data->state_);
 
    // Generate measurement noise matrix and check
    // if noisevalues from the measurement object should be used
    Eigen::MatrixXd R_meas_dyn;
    if (meas->has_meas_noise && use_dynamic_meas_noise_)
    {
      meas->get_meas_noise(&R_meas_dyn);
    }
    else
    {
      R_meas_dyn = this->R_.asDiagonal();
    }
    const Eigen::Matrix<double, 3, 3> R_meas = R_meas_dyn;
 
    const int size_of_core_state = CoreStateType::size_error_;
    const int size_of_sensor_state = prior_sensor_state.cov_size_;
    const int size_of_full_error_state = size_of_core_state + size_of_sensor_state;
    const Eigen::MatrixXd P = prior_cov;
    assert(P.size() == size_of_full_error_state * size_of_full_error_state);
 
    // Calculate the measurement jacobian H
    // const Eigen::Matrix3d I_3 = Eigen::Matrix3d::Identity();
    const Eigen::Matrix3d Z_3 = Eigen::Matrix3d::Zero();
    // const Eigen::Vector3d P_wi = prior_core_state.p_wi_;
    const Eigen::Vector3d V_wi = prior_core_state.v_wi_;
    const Eigen::Matrix3d R_wi = prior_core_state.q_wi_.toRotationMatrix();
    const Eigen::Vector3d P_ib = prior_sensor_state.p_ib_;
    const Eigen::Matrix3d R_ib = prior_sensor_state.q_ib_.toRotationMatrix();
 
    const Eigen::Vector3d w_wi = prior_core_state.w_m_ - prior_core_state.b_w_;
    const Eigen::Matrix3d w_wi_skew = Utils::Skew(w_wi);
 
    // Linear Velocity
    const Eigen::Matrix3d Hv_pwi = Z_3;
    const Eigen::Matrix3d Hv_vwi = R_ib.transpose() * R_wi.transpose();
    const Eigen::Matrix3d Hv_rwi = R_ib.transpose() * Utils::Skew(R_wi.transpose() * V_wi);
    const Eigen::Matrix3d Hv_bw = R_ib.transpose() * Utils::Skew(P_ib);  // Z_3;
    const Eigen::Matrix3d Hv_ba = Z_3;
    const Eigen::Matrix3d Hv_pib = R_ib.transpose() * w_wi_skew;
    const Eigen::Matrix3d Hv_rib =
        Utils::Skew(R_ib.transpose() * R_wi.transpose() * V_wi) + Utils::Skew(R_ib.transpose() * w_wi_skew * P_ib);
 
    // Assemble the jacobian for the velocity (horizontal)
    // H_v = [Hv_pwi Hv_vwi Hv_rwi Hv_bw Hv_ba Hv_pib Hv_rib];
    Eigen::MatrixXd H_v(3, Hv_pwi.cols() + Hv_vwi.cols() + Hv_rwi.cols() + Hv_bw.cols() + Hv_ba.cols() + Hv_pib.cols() +
                               Hv_rib.cols());
    H_v << Hv_pwi, Hv_vwi, Hv_rwi, Hv_bw, Hv_ba, Hv_pib, Hv_rib;
 
    // Combine all jacobians (vertical)
    Eigen::MatrixXd H(H_v.rows(), H_v.cols());
    H << H_v;
 
    // Calculate the residual z = z~ - (estimate)
    // Velocity
    const Eigen::Vector3d v_est = R_ib.transpose() * R_wi.transpose() * V_wi + R_ib.transpose() * w_wi_skew * P_ib;
    residual_ = Eigen::MatrixXd(v_est.rows(), 1);
    residual_ = v_meas - v_est;
 
    // Perform EKF calculations
    mars::Ekf ekf(H, R_meas, residual_, P);
    const Eigen::MatrixXd correction = ekf.CalculateCorrection(&chi2_);
    assert(correction.size() == size_of_full_error_state * 1);
 
    // Perform Chi2 test
    if (!chi2_.passed_ && chi2_.do_test_)
    {
      chi2_.PrintReport(name_);
      return false;
    }
 
    Eigen::MatrixXd P_updated = ekf.CalculateCovUpdate();
    assert(P_updated.size() == size_of_full_error_state * size_of_full_error_state);
    P_updated = Utils::EnforceMatrixSymmetry(P_updated);
 
    // Apply Core Correction
    CoreStateVector core_correction = correction.block(0, 0, CoreStateType::size_error_, 1);
    CoreStateType corrected_core_state = CoreStateType::ApplyCorrection(prior_core_state, core_correction);
 
    // Apply Sensor Correction
    const Eigen::MatrixXd sensor_correction = correction.block(size_of_core_state, 0, size_of_sensor_state, 1);
    const BodyvelSensorStateType corrected_sensor_state = ApplyCorrection(prior_sensor_state, sensor_correction);
 
    // Return Results
    // CoreState data
    CoreType core_data;
    core_data.cov_ = P_updated.block(0, 0, CoreStateType::size_error_, CoreStateType::size_error_);
    core_data.state_ = corrected_core_state;
 
    // SensorState data
    std::shared_ptr<BodyvelSensorData> sensor_data(std::make_shared<BodyvelSensorData>());
    sensor_data->set_cov(P_updated);
    sensor_data->state_ = corrected_sensor_state;
 
    BufferDataType state_entry(std::make_shared<CoreType>(core_data), sensor_data);
 
    if (const_ref_to_nav_)
    {
      // corrected_sensor_data.ref_to_nav = prior_ref_to_nav;
    }
    else
    {
      // TODO also estimate ref to nav
    }
 
    *new_state_data = state_entry;
 
    return true;
  }

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ApplyCorrection()

BodyvelSensorStateType mars::BodyvelSensorClass::ApplyCorrection ( const BodyvelSensorStateType &  prior_sensor_state, const Eigen::MatrixXd &  correction  )

inline

  {
    // state + error state correction
    // with quaternion from small angle approx -> new state
 
    BodyvelSensorStateType corrected_sensor_state;
    corrected_sensor_state.p_ib_ = prior_sensor_state.p_ib_ + correction.block(0, 0, 3, 1);
    corrected_sensor_state.q_ib_ =
        Utils::ApplySmallAngleQuatCorr(prior_sensor_state.q_ib_, correction.block(3, 0, 3, 1));
    return corrected_sensor_state;
  }

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The documentation for this class was generated from the following file:

• bodyvel_sensor_class.h