121 lines
3.9 KiB
C++
121 lines
3.9 KiB
C++
/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <sophus/se3.hpp>
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#include <basalt/utils/imu_types.h>
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namespace basalt {
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inline Sophus::Vector6d relPoseError(
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const Sophus::SE3d& T_i_j, const Sophus::SE3d& T_w_i,
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const Sophus::SE3d& T_w_j, Sophus::Matrix6d* d_res_d_T_w_i = nullptr,
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Sophus::Matrix6d* d_res_d_T_w_j = nullptr) {
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Sophus::SE3d T_j_i = T_w_j.inverse() * T_w_i;
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Sophus::Vector6d res = Sophus::se3_logd(T_i_j * T_j_i);
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if (d_res_d_T_w_i || d_res_d_T_w_j) {
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Sophus::Matrix6d J;
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Sophus::rightJacobianInvSE3Decoupled(res, J);
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Eigen::Matrix3d R = T_w_i.so3().inverse().matrix();
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Sophus::Matrix6d Adj;
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Adj.setZero();
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Adj.topLeftCorner<3, 3>() = R;
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Adj.bottomRightCorner<3, 3>() = R;
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if (d_res_d_T_w_i) {
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*d_res_d_T_w_i = J * Adj;
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}
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if (d_res_d_T_w_j) {
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Adj.topRightCorner<3, 3>() =
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Sophus::SO3d::hat(T_j_i.inverse().translation()) * R;
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*d_res_d_T_w_j = -J * Adj;
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}
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}
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return res;
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}
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inline Sophus::Vector3d absPositionError(
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const Sophus::SE3d& T_w_i, const Eigen::Vector3d pos,
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Eigen::Matrix<double, 3, 6>* d_res_d_T_w_i = nullptr) {
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if (d_res_d_T_w_i) {
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d_res_d_T_w_i->topLeftCorner<3, 3>().setIdentity();
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d_res_d_T_w_i->topRightCorner<3, 3>().setZero();
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}
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return T_w_i.translation() - pos;
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}
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inline double yawError(const Sophus::SE3d& T_w_i,
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const Eigen::Vector3d yaw_dir_body,
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Eigen::Matrix<double, 1, 6>* d_res_d_T_w_i = nullptr) {
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Eigen::Matrix3d curr_R_w_i = T_w_i.so3().matrix();
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Eigen::Vector3d tmp = curr_R_w_i * yaw_dir_body;
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double res_yaw = tmp[1];
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if (d_res_d_T_w_i) {
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d_res_d_T_w_i->setZero();
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(*d_res_d_T_w_i)[3] = -tmp[2];
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(*d_res_d_T_w_i)[5] = tmp[0];
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}
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return res_yaw;
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}
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inline Sophus::Vector2d rollPitchError(
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const Sophus::SE3d& T_w_i, const Sophus::SO3d& R_w_i_meas,
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Eigen::Matrix<double, 2, 6>* d_res_d_T_w_i = nullptr) {
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// Assumes g direction is negative Z in world coordinate frame
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Eigen::Matrix3d R = (R_w_i_meas * T_w_i.so3().inverse()).matrix();
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Eigen::Vector3d res = R * (-Eigen::Vector3d::UnitZ());
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if (d_res_d_T_w_i) {
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d_res_d_T_w_i->setZero();
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(*d_res_d_T_w_i)(0, 3) = -R(0, 1);
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(*d_res_d_T_w_i)(1, 3) = -R(1, 1);
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(*d_res_d_T_w_i)(0, 4) = R(0, 0);
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(*d_res_d_T_w_i)(1, 4) = R(1, 0);
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}
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return res.head<2>();
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}
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} // namespace basalt
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