PreintegrationBase.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/PreintegrationParams.h>
#include <gtsam/navigation/NavState.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/linear/NoiseModel.h>

#include <iosfwd>
#include <string>
#include <utility>

namespace gtsam {

#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
struct PoseVelocityBias {
  Pose3 pose;
  Vector3 velocity;
  imuBias::ConstantBias bias;
  PoseVelocityBias(const Pose3& _pose, const Vector3& _velocity,
      const imuBias::ConstantBias _bias) :
      pose(_pose), velocity(_velocity), bias(_bias) {
  }
  PoseVelocityBias(const NavState& navState, const imuBias::ConstantBias _bias) :
      pose(navState.pose()), velocity(navState.velocity()), bias(_bias) {
  }
  NavState navState() const {
    return NavState(pose, velocity);
  }
};
#endif

class GTSAM_EXPORT PreintegrationBase {
 public:
  typedef imuBias::ConstantBias Bias;
  typedef PreintegrationParams Params;

 protected:
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
  mutable
#endif
  boost::shared_ptr<Params> p_;

  Bias biasHat_;

  double deltaTij_;

  PreintegrationBase() {}

  virtual ~PreintegrationBase() {}

 public:

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


  virtual void resetIntegration() = 0;

  void resetIntegrationAndSetBias(const Bias& biasHat);

  bool matchesParamsWith(const PreintegrationBase& other) const {
    return p_.get() == other.p_.get();
  }

  const boost::shared_ptr<Params>& params() const {
    return p_;
  }

  const Params& p() const {
    return *boost::static_pointer_cast<Params>(p_);
  }

#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
  void set_body_P_sensor(const Pose3& body_P_sensor) {
    p_->body_P_sensor = body_P_sensor;
  }
#endif

  const imuBias::ConstantBias& biasHat() const { return biasHat_; }
  double deltaTij() const { return deltaTij_; }

  virtual Vector3  deltaPij() const = 0;
  virtual Vector3  deltaVij() const = 0;
  virtual Rot3     deltaRij() const = 0;
  virtual NavState deltaXij() const = 0;

  // Exposed for MATLAB
  Vector6 biasHatVector() const { return biasHat_.vector(); }

  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const PreintegrationBase& pim);
  virtual void print(const std::string& s) const;


  std::pair<Vector3, Vector3> correctMeasurementsBySensorPose(
      const Vector3& unbiasedAcc, const Vector3& unbiasedOmega,
      OptionalJacobian<3, 3> correctedAcc_H_unbiasedAcc = boost::none,
      OptionalJacobian<3, 3> correctedAcc_H_unbiasedOmega = boost::none,
      OptionalJacobian<3, 3> correctedOmega_H_unbiasedOmega = boost::none) const;

  virtual void update(const Vector3& measuredAcc, const Vector3& measuredOmega,
      const double dt, Matrix9* A, Matrix93* B, Matrix93* C) = 0;

  virtual void integrateMeasurement(const Vector3& measuredAcc,
      const Vector3& measuredOmega, const double dt);

  virtual Vector9 biasCorrectedDelta(const imuBias::ConstantBias& bias_i,
      OptionalJacobian<9, 6> H = boost::none) const = 0;

  NavState predict(const NavState& state_i, const imuBias::ConstantBias& bias_i,
                   OptionalJacobian<9, 9> H1 = boost::none,
                   OptionalJacobian<9, 6> H2 = boost::none) const;

  Vector9 computeError(const NavState& state_i, const NavState& state_j,
                       const imuBias::ConstantBias& bias_i,
                       OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2,
                       OptionalJacobian<9, 6> H3) const;

  Vector9 computeErrorAndJacobians(const Pose3& pose_i, const Vector3& vel_i,
      const Pose3& pose_j, const Vector3& vel_j,
      const imuBias::ConstantBias& bias_i, OptionalJacobian<9, 6> H1 =
          boost::none, OptionalJacobian<9, 3> H2 = boost::none,
      OptionalJacobian<9, 6> H3 = boost::none, OptionalJacobian<9, 3> H4 =
          boost::none, OptionalJacobian<9, 6> H5 = boost::none) const;

#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4

  PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i,
      const imuBias::ConstantBias& bias_i, const Vector3& n_gravity,
      const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const;

#endif

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}