TangentPreintegration.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/navigation/PreintegrationBase.h>
 
namespace gtsam {

class GTSAM_EXPORT TangentPreintegration : public PreintegrationBase {
 protected:

  Vector9 preintegrated_;
  Matrix93 preintegrated_H_biasAcc_;    
  Matrix93 preintegrated_H_biasOmega_;  

  TangentPreintegration() {
    resetIntegration();
  }
 
public:

  TangentPreintegration(const std::shared_ptr<Params>& p,
      const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());

  ~TangentPreintegration() override {
  }


  void resetIntegration() override;


  Vector3  deltaPij() const override { return preintegrated_.segment<3>(3); }
  Vector3  deltaVij() const override { return preintegrated_.tail<3>(); }
  Rot3     deltaRij() const override { return Rot3::Expmap(theta()); }
  Vector3 so3TangentAt(double t) const override;
  NavState deltaXij() const override {
    return internal::navStateComponentWiseRetract(NavState(), preintegrated_);
  }
 
  const Vector9& preintegrated() const { return preintegrated_; }
  Vector3 theta() const     { return preintegrated_.head<3>(); }
  const Matrix93& preintegrated_H_biasAcc() const { return preintegrated_H_biasAcc_; }
  const Matrix93& preintegrated_H_biasOmega() const { return preintegrated_H_biasOmega_; }

  bool equals(const TangentPreintegration& other, double tol) const;

 
  // Update integrated vector on tangent manifold preintegrated with acceleration
  // Static, functional version.
  static Vector9 UpdatePreintegrated(const Vector3& a_body,
                                     const Vector3& w_body, const double dt,
                                     const Vector9& preintegrated,
                                     OptionalJacobian<9, 9> A = {},
                                     OptionalJacobian<9, 3> B = {},
                                     OptionalJacobian<9, 3> C = {});

  void update(const Vector3& measuredAcc, const Vector3& measuredOmega,
      const double dt, Matrix9* A, Matrix93* B, Matrix93* C) override;

  Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i,
      OptionalJacobian<9, 6> H = {}) const override;
 
  // Compose the two pre-integrated 9D-vectors zeta01 and zeta02, with derivatives
  static Vector9 Compose(const Vector9& zeta01, const Vector9& zeta12,
                         double deltaT12,
                         OptionalJacobian<9, 9> H1 = {},
                         OptionalJacobian<9, 9> H2 = {});

  void mergeWith(const TangentPreintegration& pim, Matrix9* H1, Matrix9* H2);

  virtual std::shared_ptr<TangentPreintegration> clone() const {
    return std::shared_ptr<TangentPreintegration>();
  }

 
private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    namespace bs = ::boost::serialization;
    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
    ar & BOOST_SERIALIZATION_NVP(preintegrated_);
    ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_);
    ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_);
  }
#endif
};
 
}