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/*
* =====================================================================================
*
* Filename: main.cpp
*
* Description: Main code for reflections SLAM. While the code is primarily
* designed to run in ROS, an attempt is being made to allow some
* functionality without it. However, no guarantees are made that the two
* will produce the same outputs for a given input.
*
* Version: 1.0
* Created: 03/17/2017 04:12:33 PM
* Revision: none
* Compiler: gcc
*
* Author: Martin Miller (MHM), miller7@illinois.edu
* Organization: Aerospace Robotics and Controls Lab (ARC)
*
* =====================================================================================
*/
#include "main.h"
bool seenutm=false;
bool seenpva=false;
#ifdef USE_ROS
#else /* ----- not USE_ROS ----- */
void
imgCallback(const message *msg)
{
return;
}
void
imuCallback(const message &msg, Eigen::Matrix<double,9,1> &X, const Eigen::Quaternion<double> &q, const timestamp dt)
{
if (!seenutm || !seenpva || (dt.secs==0 && dt.nsecs==0)) return;
using Eigen::Vector3d;
Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z);
Vector3d ang(msg.angular_velocity.y,msg.angular_velocity.x,-msg.angular_velocity.z);
// WARNING: This is the bias for 1112-1
Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, 1.418145565750002614e-03);
ang-=ang_bias;
Body mu;
double dtf = dt.secs+dt.nsecs*1e-9;
mu.motionModel(X,acc,ang,q,dtf);
}
void
pvaCallback(const message &msg, Eigen::Matrix<double,9,1> &X, Eigen::Quaternion<double> &q)
{
using Eigen::AngleAxisd;
using Eigen::Vector3d;
double roll, pitch, yaw;
attitude_t A=msg.attitude;
roll = M_PI*msg.attitude.roll/180.;
pitch = M_PI*msg.attitude.pitch/180.;
yaw = M_PI*(msg.attitude.yaw)/180.;
Eigen::Matrix3d R;
R = AngleAxisd(yaw, Vector3d::UnitZ())
* AngleAxisd(roll, Vector3d::UnitX())
* AngleAxisd(pitch, Vector3d::UnitY());
q = Eigen::Quaternion<double>(R);
if (!seenpva) {
Vector3d vw(msg.velocity.north,msg.velocity.east,-msg.velocity.up);
X.segment(3,3) = R.transpose()*vw;
seenpva=true;
}
return;
}
void
utmCallback(const message &msg, Eigen::Matrix<double,9,1> &X)
{
if (!seenutm) {
seenutm=true;
X[0] = msg.utm.northing;
X[1] = msg.utm.easting;
X[2] = -msg.utm.up;
}
return;
}
#endif /* ----- not USE_ROS ----- */
int
parseLine(char *line, message *data)
{
char *time_string;
char *msg_type;
double t;
int s,ns;
time_string = strsep(&line, ",");
msg_type = strsep(&line, ",");
sscanf(time_string,"%lf", &t);
s = (int) t;
ns = (int) ((t-s)*1e9);
data->stamp.secs=s;
data->stamp.nsecs=ns;
if (!strcmp(msg_type,"bestutm")) {
data->msg_type = BESTUTM;
sscanf(line,"%d,%c,%lf,%lf,%lf",
&data->utm.zone_i,
&data->utm.zone_c,
&data->utm.northing,
&data->utm.easting,
&data->utm.up);
} else if (!strcmp(msg_type,"IMG")) {
data->msg_type = IMG;
char *lfn,*rfn;
lfn = strsep(&line, ",");
sscanf(lfn, "%s", &data->image_names);
rfn = strsep(&line, ",");
sscanf(rfn, "%s", &data->image_names+1);
} else if (!strcmp(msg_type,"inscovs")) {
data->msg_type = INSCOVS;
} else if (!strcmp(msg_type,"inspvas")) {
data->msg_type = INSPVAS;
sscanf(line,"%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf",
&data->position.latitude,
&data->position.longitude,
&data->position.altitude,
&data->velocity.north,
&data->velocity.east,
&data->velocity.up,
&data->attitude.roll,
&data->attitude.pitch,
&data->attitude.yaw);
} else if (!strcmp(msg_type,"rawimus")) {
data->msg_type = RAWIMUS;
double acc_y, ang_y;
sscanf(line,"%lf,%lf,%lf,%lf,%lf,%lf",
&data->linear_acceleration.z,
&acc_y,
&data->linear_acceleration.x,
&data->angular_velocity.z,
&ang_y,
&data->angular_velocity.x);
data->linear_acceleration.y = -acc_y;
data->angular_velocity.y = -ang_y;
} else {
fprintf(stderr, "Message type %s is unknown, quitting.\n", msg_type);
exit(1);
}
}
timestamp
update_dt(const timestamp t, timestamp *t_old)
{
double dtf=0;
if (t_old->secs!=0 || t_old->nsecs!=0) {
double tf = t.secs+1e-9*t.nsecs;
double t_oldf = t_old->secs+1e-9*t_old->nsecs;
dtf = tf-t_oldf;
}
t_old->secs=t.secs;
t_old->nsecs=t.nsecs;
timestamp dt;
dt.secs = (int) dtf;
dt.nsecs = (int)((dtf-(double)dt.secs)*1e9);
return dt;
}
int
main(int argc, char **argv)
{
Eigen::Quaternion<double> qbw;
Eigen::Matrix<double,9,1> bodyStateVector;
// bias in FRD coordinates
bodyStateVector.segment(6,3) << 0.975*-0.03713532, 0.9*0.01465135, -0.00709229;
timestamp dt{0,0};
timestamp t_old{0,0};
#ifdef USE_ROS
#else /* ----- not USE_ROS ----- */
using std::cout;
using std::endl;
using std::cerr;
printf("UTM-Zone,UTM-Ch,UTM-North,UTM-East\n");
// Read sensors from file
char line[MAXLINE];
while (scanf("%s", line)!=EOF) {
message msg;
parseLine(line, &msg);
switch ( msg.msg_type ) {
case BESTUTM:
dt = update_dt(msg.stamp, &t_old);
utmCallback(msg,bodyStateVector);
break;
case IMG:
imgCallback(&msg);
break;
case INSPVAS:
dt = update_dt(msg.stamp, &t_old);
pvaCallback(msg, bodyStateVector, qbw);
//std::cout << bodyStateVector.transpose() << std::endl;
if (seenutm)
printf("%d,%c,%f,%f\n", msg.utm.zone_i,msg.utm.zone_c,bodyStateVector[0],bodyStateVector[1]);
break;
case RAWIMUS:
dt = update_dt(msg.stamp, &t_old);
imuCallback(msg, bodyStateVector, qbw, dt);
break;
default:
break;
} /* ----- end switch ----- */
}
#endif /* ----- not USE_ROS ----- */
return 0;
}
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