CalcUpdate Calculates the update for an individual sensor definition.
120 VelocityMeasurementType* meas =
static_cast<VelocityMeasurementType*
>(measurement.get());
124 Eigen::Vector3d v_meas = meas->velocity_;
127 VelocitySensorStateType prior_sensor_state(prior_sensor_data->state_);
131 Eigen::MatrixXd R_meas_dyn;
134 meas->get_meas_noise(&R_meas_dyn);
138 R_meas_dyn = this->
R_.asDiagonal();
141 const Eigen::Matrix<double, 3, 3> R_meas = R_meas_dyn;
144 const int size_of_sensor_state = prior_sensor_state.cov_size_;
145 const int size_of_full_error_state = size_of_core_state + size_of_sensor_state;
146 const Eigen::MatrixXd P = prior_cov;
147 assert(P.size() == size_of_full_error_state * size_of_full_error_state);
150 const Eigen::Matrix3d I_3 = Eigen::Matrix3d::Identity();
151 const Eigen::Matrix3d O_3 = Eigen::Matrix3d::Zero();
153 const Eigen::Vector3d omega_i = prior_core_state.w_m_;
156 const Eigen::Vector3d V_wi = prior_core_state.v_wi_;
157 const Eigen::Vector3d b_w = prior_core_state.b_w_;
158 const Eigen::Matrix3d R_wi = prior_core_state.q_wi_.toRotationMatrix();
159 const Eigen::Vector3d P_iv = prior_sensor_state.p_iv_;
161 const Eigen::Matrix3d Hv_pwi = O_3;
162 const Eigen::Matrix3d Hv_vwi = I_3;
164 const Eigen::Matrix3d Hv_bw = O_3;
165 const Eigen::Matrix3d Hv_ba = O_3;
167 const Eigen::Matrix3d Hv_piv = R_wi *
Utils::Skew(omega_i - b_w);
170 const int num_states =
171 static_cast<int>(Hv_pwi.cols() + Hv_vwi.cols() + Hv_rwi.cols() + Hv_bw.cols() + Hv_ba.cols() + Hv_piv.cols());
174 Eigen::MatrixXd H(3, num_states);
175 H << Hv_pwi, Hv_vwi, Hv_rwi, Hv_bw, Hv_ba, Hv_piv;
177 Eigen::Vector3d v_est;
178 v_est = V_wi + R_wi *
Utils::Skew(omega_i - b_w) * P_iv;
182 const Eigen::Vector3d res_v = v_meas - v_est;
185 residual_ = Eigen::MatrixXd(res_v.rows(), 1);
190 const Eigen::MatrixXd correction = ekf.CalculateCorrection(&
chi2_);
191 assert(correction.size() == size_of_full_error_state * 1);
200 Eigen::MatrixXd P_updated = ekf.CalculateCovUpdate();
201 assert(P_updated.size() == size_of_full_error_state * size_of_full_error_state);
209 const Eigen::MatrixXd sensor_correction = correction.block(size_of_core_state, 0, size_of_sensor_state, 1);
210 const VelocitySensorStateType corrected_sensor_state =
ApplyCorrection(prior_sensor_state, sensor_correction);
216 core_data.state_ = corrected_core_state;
219 std::shared_ptr<VelocitySensorData> sensor_data(std::make_shared<VelocitySensorData>());
220 sensor_data->set_cov(P_updated);
221 sensor_data->state_ = corrected_sensor_state;
223 BufferDataType state_entry(std::make_shared<CoreType>(core_data), sensor_data);
234 *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
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
VelocitySensorStateType ApplyCorrection(const VelocitySensorStateType &prior_sensor_state, const Eigen::MatrixXd &correction)
Definition: velocity_sensor_class.h:239
Eigen::Matrix< double, CoreStateType::size_error_, 1 > CoreStateVector
Definition: core_state_type.h:135