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/*
* =====================================================================================
*
* Filename: body.cpp
*
* Description: Method definitions for body class.
*
* Version: 1.0
* Created: 03/17/2017 08:07:35 PM
* Revision: none
* Compiler: gcc
*
* Author: Martin Miller (MHM), miller7@illinois.edu
* Organization: Aerospace Robotics and Controls Lab (ARC)
*
* =====================================================================================
*/
#include "body.h"
void
Body::clamp()
{
#ifdef DOCLAMP
// Constrain the height
if (X[2]<MAXHEIGHT) {
X[2]=MAXHEIGHT;
} else if (X[2]>MINHEIGHT) {
X[2]=MINHEIGHT;
}
#endif /* ----- DOCLAMP ----- */
}
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: dx
* Description: Increments the state by dx after a Kalman update.
*--------------------------------------------------------------------------------------
*/
void
Body::dx ( const Matrix<double,STATESIZE,1> &del )
{
X += del;
clamp();
return ;
} /* ----- end of method Body::dx ----- */
void
Body::vel ( const Matrix<double,3,1> &v )
{
X.segment<3>(3) = v;
return ;
} /* ----- end of method Body::vel ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: S
* Description: Returns the matrix S=HPH.T+R. HPH.T is trivial, so Body::H() is
* not called explicitly.
*--------------------------------------------------------------------------------------
*/
Matrix<double,1,1>
Body::S ( const Matrix<double,STATESIZE,STATESIZE> &Pxx )
{
Matrix<double,1,1> S;
S << Pxx(2,2);
return S+R();
} /* ----- end of method Body::S ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: pos
* Description: Stores the UTM position in NED format.
*--------------------------------------------------------------------------------------
*/
void
Body::pos ( const UTM &utm )
{
utm_c = utm.zone_c;
utm_i = utm.zone_i;
X[0] = utm.northing;
X[1] = utm.easting;
X[2] = -utm.up;
return ;
} /* ----- end of method Body::pos ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: R
* Description: Returns R matrix of measurement noise for height measurement.
*--------------------------------------------------------------------------------------
*/
Matrix<double,1,1>
Body::R()
{
Matrix<double,1,1> R;
R << R_HEIGHT;
return R;
}
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: Q
* Description: Returns Q matrix of process noise for the body.
*--------------------------------------------------------------------------------------
*/
Matrix<double,STATESIZE,STATESIZE>
Body::Q (double dt)
{
Matrix<double,STATESIZE,STATESIZE> Q;
Q = Matrix<double,STATESIZE,STATESIZE>::Zero();
Q.block<3,3>(0,0) = 0.25*dt*dt*dt*dt*Matrix<double,3,3>::Identity();
Q.block<3,3>(3,0) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
Q.block<3,3>(0,3) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
Q.block<3,3>(3,3) = dt*dt*Matrix<double,3,3>::Identity();
Q *= IMU_NOISE;
#if STATESIZE==13
Q.block<4,4>(6,6) = dt*dt*IMU_NOISE*Matrix<double,4,4>::Identity();
Q.block<3,3>(10,10) = dt*dt*IMU_RANDOMWALK*Matrix<double,3,3>::Identity();
#else
Q.block<3,3>(6,6) = dt*dt*IMU_RANDOMWALK*Matrix<double,3,3>::Identity();
#endif
return Q;
} /* ----- end of method Body::q ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: H
* Description: Returns the Jacobian of the measurement model, H.
*--------------------------------------------------------------------------------------
*/
Matrix<double,1,STATESIZE>
Body::H ( )
{
Matrix<double,1,STATESIZE> H;
H = Matrix<double,1,STATESIZE>::Zero();
H(2) = 1.;
return H ;
} /* ----- end of method Body::H ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: h
* Description: Returns the predicted measurement vector, h.
*--------------------------------------------------------------------------------------
*/
Matrix<double,1,1>
Body::h ( )
{
Matrix<double,1,1> h;
h[0] = X[2];
return h;
} /* ----- end of method Body::h_hat ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: F
* Description: Returns the Jacobian of the motion model of the body.
*--------------------------------------------------------------------------------------
*/
Matrix<double,STATESIZE,STATESIZE>
#if STATESIZE==13
Body::F ( const Vector3d &ang, double dt )
#else
Body::F ( const Vector3d &ang, const Quaterniond &q, double dt )
#endif
{
Matrix<double,STATESIZE,STATESIZE> F = Matrix<double,STATESIZE,STATESIZE>::Zero();
#if STATESIZE==13
Quaterniond q = qhat();
#endif
Matrix<double,3,3> Rbw(q.toRotationMatrix());
Matrix<double,3,3> W;
W = skewSymmetric(ang);
F.block<3,3>(0,3) = Rbw;
F.block<3,3>(3,3) = -W;
#if STATESIZE==13
double qbw1,qbw2,qbw3,qbw4;
qbw1 = q.x();
qbw2 = q.y();
qbw3 = q.z();
qbw4 = q.w();
/* Jacobian generated using symbolic matlab */
double v1,v2,v3;
v1 = X(3);
v2 = X(4);
v3 = X(5);
F.block<1,4>(0,6) << 2*qbw1*v1 + 2*qbw2*v2 + 2*qbw3*v3,
2*qbw1*v2 - 2*qbw2*v1 + 2*qbw4*v3,
2*qbw1*v3 - 2*qbw3*v1 - 2*qbw4*v2,
2*qbw2*v3 - 2*qbw3*v2 + 2*qbw4*v1;
F.block<1,4>(1,6) << 2*qbw2*v1 - 2*qbw1*v2 - 2*qbw4*v3,
2*qbw1*v1 + 2*qbw2*v2 + 2*qbw3*v3,
2*qbw2*v3 - 2*qbw3*v2 + 2*qbw4*v1,
2*qbw3*v1 - 2*qbw1*v3 + 2*qbw4*v2;
F.block<1,4>(2,6) << 2*qbw3*v1 - 2*qbw1*v3 + 2*qbw4*v2,
2*qbw3*v2 - 2*qbw2*v3 - 2*qbw4*v1,
2*qbw1*v1 + 2*qbw2*v2 + 2*qbw3*v3,
2*qbw1*v2 - 2*qbw2*v1 + 2*qbw4*v3;
F.block<3,4>(3,6) << -2*gravity_world*qbw3, 2*gravity_world*qbw4, -2*gravity_world*qbw1, 2*gravity_world*qbw2,
-2*gravity_world*qbw4, -2*gravity_world*qbw3, -2*gravity_world*qbw2, -2*gravity_world*qbw1,
2*gravity_world*qbw1, 2*gravity_world*qbw2, -2*gravity_world*qbw3, -2*gravity_world*qbw4;
F.block<4,4>(6,6) = omega(ang);
F.block<3,3>(3,10) = -Matrix<double,3,3>::Identity();
#else
F.block<3,3>(3,6) = -Matrix<double,3,3>::Identity();
#endif
F *= dt;
F += Matrix<double,STATESIZE,STATESIZE>::Identity();
return F;
} /* ----- end of method Body::F ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: omega
* Description: Returns the Omega(w) used for the motion model of the
* quaternion.
*--------------------------------------------------------------------------------------
*/
Matrix<double,4,4>
Body::omega ( const Vector3d &x )
{
Matrix<double,4,4> Omega;
Omega.block<3,3>(0,0) = -skewSymmetric(x);
Omega.block<3,1>(0,3) = x;
Omega.block<1,3>(3,0) = x.transpose();
Omega(3,3) = 0;
return Omega;
} /* ----- end of method Body::omega ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: motionModel
* Description: Propagates the motion model of the body into vector X.
*--------------------------------------------------------------------------------------
*/
void
#if STATESIZE==13
Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const double dt)
#else
Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaterniond &q, const double dt)
#endif
{
Vector3d bias = accelerometer_bias();
Matrix<double,6,3> A;
Matrix<double,6,1> b;
A = Matrix<double,6,3>::Zero();
b = Matrix<double,6,1>::Zero();
#if STATESIZE==13
Quaterniond q = qhat();
#endif
Matrix<double,3,3> Rbw(q.toRotationMatrix());
A.block<3,3>(0,0) = Rbw;
Matrix<double,3,3> W;
W = skewSymmetric(ang);
A.block<3,3>(3,0) = -W;
b.segment<3>(3) = acc-bias+Rbw.transpose()*gravity_world;
X.segment<6>(0) += (A*X.segment<3>(3)+b)*dt;
#if STATESIZE==13
X.segment<4>(6) += 0.5*omega(ang)*X.segment<4>(6);
#endif
clamp();
return ;
} /* ----- end of method Body::motionModel ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: skewSymmetric
* Description: Create the skew symmetric matrix y from the vector x.
*--------------------------------------------------------------------------------------
*/
Matrix<double,3,3>
Body::skewSymmetric ( const Vector3d &x )
{
Matrix<double,3,3> y;
y << 0.,-x[2], x[1], x[2],0.,-x[0],-x[1],x[0],0.;
return y;
} /* ----- end of method Body::skewSymmetric ----- */
void
Body::unicsv ( )
{
printf("%d,%c,%f,%f,%f,%f,%f,%f,%f,%f,%f", utm_i, utm_c,
X[0], X[1], -X[2],
X[3], X[4], X[5],
X[6], X[7], X[8]);
return ;
} /* ----- end of method Body::unicsv ----- */
void
Body::accelerometer_bias ( const Vector3d &b )
{
#if STATESIZE==13
X.segment<3>(10) = b;
#else
X.segment<3>(6) = b;
#endif
return ;
} /* ----- end of method State::accelerometer_bias ----- */
Vector3d
Body::accelerometer_bias ( )
{
Vector3d bs;
#if STATESIZE==13
bs = X.segment<3>(10);
#else
bs = X.segment<3>(6);
#endif
return bs ;
} /* ----- end of method State::accelerometer_bias ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: ned
* Description: Returns the body position in NED coordinates.
*--------------------------------------------------------------------------------------
*/
Vector3d
Body::ned ( )
{
return X.segment<3>(0);
} /* ----- end of method Body::ned ----- */
Vector3d
Body::vel ( )
{
return X.segment<3>(3);
} /* ----- end of method Body::vel ----- */
Matrix<double,STATESIZE,1>
Body::asVector ( )
{
return X;
} /* ----- end of method Body::asVector ----- */
void
Body::asVector ( const Matrix<double,STATESIZE,1> &m )
{
X = m;
return ;
} /* ----- end of method Body::asVector ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Body
* Method: Body :: qhat
* Description: Returns the current quaternion estimate.
*--------------------------------------------------------------------------------------
*/
Quaterniond
Body::qhat ( )
{
#if STATESIZE==13
Quaterniond qbw(X(9),X(6),X(7),X(8));
#else
fprintf(stderr, "Quaternion is not being estimated, quitting.\n");
exit(1);
#endif
return qbw;
} /* ----- end of method Body::qhat ----- */
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