CalcUpdate Calculates the update for an individual sensor definition.
113 PositionMeasurementType* meas =
static_cast<PositionMeasurementType*
>(measurement.get());
117 Eigen::Vector3d p_meas = meas->position_;
120 PositionSensorStateType prior_sensor_state(prior_sensor_data->state_);
124 Eigen::MatrixXd R_meas_dyn;
127 meas->get_meas_noise(&R_meas_dyn);
131 R_meas_dyn = this->
R_.asDiagonal();
133 const Eigen::Matrix<double, 3, 3> R_meas = R_meas_dyn;
136 const int size_of_sensor_state = prior_sensor_state.cov_size_;
137 const int size_of_full_error_state = size_of_core_state + size_of_sensor_state;
138 const Eigen::MatrixXd P = prior_cov;
139 assert(P.size() == size_of_full_error_state * size_of_full_error_state);
142 const Eigen::Matrix3d I_3 = Eigen::Matrix3d::Identity();
143 const Eigen::Vector3d P_wi = prior_core_state.p_wi_;
144 const Eigen::Matrix3d R_wi = prior_core_state.q_wi_.toRotationMatrix();
145 const Eigen::Vector3d P_ip = prior_sensor_state.p_ip_;
148 const Eigen::Matrix3d Hp_pwi = I_3;
149 const Eigen::Matrix3d Hp_vwi = Eigen::Matrix3d::Zero();
150 const Eigen::Matrix3d Hp_rwi = -R_wi *
Utils::Skew(P_ip);
151 const Eigen::Matrix3d Hp_bw = Eigen::Matrix3d::Zero();
152 const Eigen::Matrix3d Hp_ba = Eigen::Matrix3d::Zero();
153 const Eigen::Matrix3d Hp_pip = R_wi;
157 Eigen::MatrixXd H(3, Hp_pwi.cols() + Hp_vwi.cols() + Hp_rwi.cols() + Hp_bw.cols() + Hp_ba.cols() + Hp_pip.cols());
159 H << Hp_pwi, Hp_vwi, Hp_rwi, Hp_bw, Hp_ba, Hp_pip;
163 const Eigen::Vector3d p_est = P_wi + R_wi * P_ip;
164 residual_ = Eigen::MatrixXd(p_est.rows(), 1);
169 const Eigen::MatrixXd correction = ekf.CalculateCorrection(&
chi2_);
170 assert(correction.size() == size_of_full_error_state * 1);
179 Eigen::MatrixXd P_updated = ekf.CalculateCovUpdate();
180 assert(P_updated.size() == size_of_full_error_state * size_of_full_error_state);
188 const Eigen::MatrixXd sensor_correction = correction.block(size_of_core_state, 0, size_of_sensor_state, 1);
189 const PositionSensorStateType corrected_sensor_state =
ApplyCorrection(prior_sensor_state, sensor_correction);
195 core_data.state_ = corrected_core_state;
198 std::shared_ptr<PositionSensorData> sensor_data(std::make_shared<PositionSensorData>());
199 sensor_data->set_cov(P_updated);
200 sensor_data->state_ = corrected_sensor_state;
202 BufferDataType state_entry(std::make_shared<CoreType>(core_data), sensor_data);
213 *new_state_data = state_entry;
bool passed_
Determine if the test is performed or not.
Definition: ekf.h:84
bool do_test_
Upper critival value.
Definition: ekf.h:83
void PrintReport(const std::string &name)
PrintReport Print a formated report e.g. if the test did not pass.
static constexpr int size_error_
Definition: core_state_type.h:38
static CoreStateType ApplyCorrection(CoreStateType state_prior, Eigen::Matrix< double, CoreStateType::size_error_, 1 > correction)
ApplyCorrection.
Definition: core_state_type.h:46
PositionSensorStateType ApplyCorrection(const PositionSensorStateType &prior_sensor_state, const Eigen::MatrixXd &correction)
Definition: position_sensor_class.h:218
bool use_dynamic_meas_noise_
True if dynamic noise values from measurements should be used.
Definition: sensor_abs_class.h:29
Eigen::VectorXd R_
Measurement noise "squared".
Definition: update_sensor_abs_class.h:32
Eigen::MatrixXd residual_
Definition: update_sensor_abs_class.h:31
static Eigen::MatrixXd EnforceMatrixSymmetry(const Eigen::Ref< const Eigen::MatrixXd > &mat_in)
EnforceMatrixSymmetry.
static Eigen::Matrix3d Skew(const Eigen::Vector3d &v)
skew generate the skew symmetric matrix of v
Eigen::Matrix< double, CoreStateType::size_error_, 1 > CoreStateVector
Definition: core_state_type.h:135