12 #ifndef VELOCITYSENSORCLASS_H
13 #define VELOCITYSENSORCLASS_H
36 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 std::cout <<
"Created: [" << this->
name_ <<
"] Sensor" << std::endl;
72 std::shared_ptr<CoreType> latest_core_data)
77 std::string calibration_type;
81 calibration_type =
"Given";
90 calibration_type =
"Auto";
92 std::cout <<
"Velocity calibration AUTO init not implemented yet" << std::endl;
97 BufferDataType result(std::make_shared<CoreType>(*latest_core_data.get()),
98 std::make_shared<VelocitySensorData>(sensor_state));
102 std::cout <<
"Info: Initialized [" <<
name_ <<
"] with [" << calibration_type <<
"] Calibration at t=" << timestamp
104 std::cout <<
"\tPosition[m]: [" << sensor_state.
state_.p_iv_.transpose() <<
" ]" << std::endl;
108 std::cout <<
"Info: [" <<
name_ <<
"] Calibration(rounded):" << std::endl;
109 std::cout <<
"\tPosition[m]: [" << sensor_state.
state_.p_iv_.transpose() <<
" ]" << std::endl;
116 std::shared_ptr<void> latest_sensor_data,
const Eigen::MatrixXd& prior_cov,
124 Eigen::Vector3d v_meas = meas->
velocity_;
131 Eigen::MatrixXd 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);
191 assert(correction.size() == size_of_full_error_state * 1);
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);
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;
240 const Eigen::MatrixXd& correction)
246 corrected_sensor_state.
p_iv_ = prior_sensor_state.
p_iv_ + correction.block(0, 0, 3, 1);
247 return corrected_sensor_state;
bool has_meas_noise
Definition: measurement_base_class.h:23
bool get_meas_noise(Eigen::MatrixXd *meas_noise)
get the measurement noise associated with the current sensor measurement
Definition: measurement_base_class.h:25
int cov_size_
Definition: base_states.h:25
The BaseSensorData class binds the sensor state and covariance matrix.
Definition: bind_sensor_data.h:29
EIGEN_MAKE_ALIGNED_OPERATOR_NEW T state_
Definition: bind_sensor_data.h:30
Eigen::MatrixXd get_full_cov() const
get_full_cov builds the full covariance matrix
Definition: bind_sensor_data.h:63
Eigen::MatrixXd sensor_cov_
covariance of the sensor states
Definition: bind_sensor_data.h:37
The BufferDataType binds the core and sensor state in form of a shared void pointer.
Definition: buffer_data_type.h:36
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 set_dof(const int &value)
set_dof Set degree of freedom for the X2 distribution
void PrintReport(const std::string &name)
PrintReport Print a formated report e.g. if the test did not pass.
Definition: core_state_type.h:21
Eigen::Vector3d w_m_
Definition: core_state_type.h:34
static constexpr int size_error_
Definition: core_state_type.h:38
Eigen::Vector3d v_wi_
Definition: core_state_type.h:28
Eigen::Vector3d b_w_
Definition: core_state_type.h:30
Eigen::Quaternion< double > q_wi_
Definition: core_state_type.h:29
static CoreStateType ApplyCorrection(CoreStateType state_prior, Eigen::Matrix< double, CoreStateType::size_error_, 1 > correction)
ApplyCorrection.
Definition: core_state_type.h:46
Definition: core_type.h:19
CoreStateMatrix cov_
Definition: core_type.h:22
CoreStateType state_
Definition: core_type.h:21
Eigen::MatrixXd CalculateCovUpdate()
CalculateCovUpdate Updating the state covariance after the state update.
Eigen::MatrixXd CalculateCorrection()
Kalman gain.
std::string name_
Name of the individual sensor instance.
Definition: sensor_abs_class.h:23
bool is_initialized_
True if the sensor has been initialized.
Definition: sensor_abs_class.h:24
bool const_ref_to_nav_
True if the reference should not be estimated.
Definition: sensor_abs_class.h:27
bool use_dynamic_meas_noise_
True if dynamic noise values from measurements should be used.
Definition: sensor_abs_class.h:29
Definition: update_sensor_abs_class.h:24
bool initial_calib_provided_
True if an initial calibration was provided.
Definition: update_sensor_abs_class.h:38
std::shared_ptr< CoreState > core_states_
Definition: update_sensor_abs_class.h:42
Eigen::VectorXd R_
Measurement noise "squared".
Definition: update_sensor_abs_class.h:32
std::shared_ptr< void > initial_calib_
Definition: update_sensor_abs_class.h:37
Chi2 chi2_
Definition: update_sensor_abs_class.h:40
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
Definition: velocity_measurement_type.h:22
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d velocity_
Velocity [x y z].
Definition: velocity_measurement_type.h:26
Definition: velocity_sensor_class.h:34
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...
Definition: velocity_sensor_class.h:59
VelocitySensorStateType ApplyCorrection(const VelocitySensorStateType &prior_sensor_state, const Eigen::MatrixXd &correction)
Definition: velocity_sensor_class.h:239
VelocitySensorStateType get_state(const std::shared_ptr< void > &sensor_data)
Definition: velocity_sensor_class.h:53
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.
Definition: velocity_sensor_class.h:115
EIGEN_MAKE_ALIGNED_OPERATOR_NEW VelocitySensorClass(const std::string &name, std::shared_ptr< CoreState > core_states)
Definition: velocity_sensor_class.h:38
BufferDataType Initialize(const Time ×tamp, std::shared_ptr< void >, std::shared_ptr< CoreType > latest_core_data)
Initialize the state of an individual sensor.
Definition: velocity_sensor_class.h:71
void set_initial_calib(std::shared_ptr< void > calibration)
set_initial_calib Sets the calibration of an individual sensor
Definition: velocity_sensor_class.h:65
virtual ~VelocitySensorClass()=default
Definition: velocity_sensor_state_type.h:21
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d p_iv_
Definition: velocity_sensor_state_type.h:25
Eigen::Matrix< double, CoreStateType::size_error_, 1 > CoreStateVector
Definition: core_state_type.h:135