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/*
* =====================================================================================
*
* Filename: state.cpp
*
* Description: A Class for managing body and features.
*
* Version: 1.0
* Created: 03/17/2017 07:55:56 PM
* Revision: none
* Compiler: gcc
*
* Author: Martin Miller (MHM), miller7@illinois.edu
* Organization: Aerospace Robotics and Controls Lab (ARC)
*
* =====================================================================================
*/
#include "state.h"
State::State ( )
{
body = new Body;
P = Matrix<double,Dynamic,Dynamic>::Zero(9,9);
P.block(6,6,3,3) = 1e-6*Matrix3d::Identity();
return ;
} /* ----- end of method State::State ----- */
void
State::vel ( const Matrix<double,3,1> &v )
{
body->vel(v);
return ;
} /* ----- end of method State::vel ----- */
void
State::enu ( const UTM &utm )
{
utm_c = utm.zone_c;
utm_i = utm.zone_i;
body->enu(utm);
return ;
} /* ----- end of method State::enu ----- */
void
State::update ( const Matrix<double,1,1> &z )
{
Matrix<double,1,9> H;
H=body->H();
Matrix<double,1,1> S;
S=body->S(P);
Matrix<double,9,1> K;
K = P*H.transpose()*S.inverse();
P = (Matrix<double,9,9>::Identity()-K*H)*P;
P = 0.5*(P+P.transpose());
Matrix<double,9,1> dx;
Matrix<double,1,1> h;
h = body->h();
dx = K*(z-h);
body->update(dx);
}
void
State::feature_update ( const std::vector<measurement_t> &z, const Quaterniond &q)
{
std::vector<measurement_t> featuresToAdd;
for (auto i=z.begin(); i!=z.end(); ++i) {
if (exists(i->id)) {
;
} else {
featuresToAdd.push_back(*i);
}
}
addFeatures( featuresToAdd, q);
return ;
} /* ----- end of method State::feature_update ----- */
void
State::addFeatures ( std::vector<measurement_t> &F, const Quaterniond &q)
{
// Expand P matrix all at once
expandP(F.size());
//
// Add new features
for (auto i=F.begin(); i!=F.end(); ++i) {
// Estimate initial depth
Vector3d xib;
// Create feature
Feature *f = new Feature(i->id, i->source, i->reflection, body->ned(), q, -0.44);
features.push_back(f);
// Initialize P values
int j=features.size();
Matrix<double,3,3> Pi;
Pi = f->P0();
initializePi(j,Pi);
}
return ;
} /* ----- end of method State::addFeatures ----- */
/*
*--------------------------------------------------------------------------------------
* Class: State
* Method: State :: initializePi
* Description: Zeros out the off-diagonal blocks and sets the Pii block to Pi.
*--------------------------------------------------------------------------------------
*/
void
State::initializePi ( int i, const Matrix<double,3,3> &Pi )
{
int pt=9+3*(i-1);
std::cout << pt << std::endl;
std::cout << P.cols() << std::endl;
P.block(pt,0,3,P.cols()) = MatrixXd::Zero(3,P.cols());
P.block(0,pt,P.rows(),3) = MatrixXd::Zero(P.rows(),3);
P.block<3,3>(pt,pt) = Pi;
return ;
} /* ----- end of method State::initializePi ----- */
MatrixXd
State::F ( const Quaterniond &q, const Vector3d &w, double dt )
{
Vector3d v;
v = body->vel();
// Allocate matrix F
MatrixXd f;
int rows = 9 + 3*features.size();
f = MatrixXd::Zero(rows,rows);
// Set body F
f.topLeftCorner<9,9>() = body->F(w,q,dt);
// Set Fxi Fyi
{ // limit i's scope
auto i = features.begin();
for (int row=9; row<rows; row+=3,++i) {
f.block<3,9>(row,0) = (*i)->Fx(dt);
f.block<3,3>(row,row) = (*i)->Fy(v,w,dt);
}
}
return f ;
} /* ----- end of method State::F ----- */
/*
*--------------------------------------------------------------------------------------
* Class: State
* Method: State :: Pkk1
* Description: Updates P_k|k-1
*--------------------------------------------------------------------------------------
*/
void
State::Pkk1 ( const Vector3d &ang, const Quaterniond &q, const double dt)
{
Matrix<double,9,9> Q;
Q = body->Q(dt);
MatrixXd f;
f = F ( q, ang, dt );
//cout << f << endl;
P = f*P*f.transpose()+Q;
// Enforce symmetry
P = 0.5*(P+P.transpose());
return ;
} /* ----- end of method State::Pkk1 ----- */
void
State::motionModel ( const Vector3d &acc, const Vector3d &ang,
const Quaterniond &q, const double dt)
{
Pkk1(ang,q,dt);
body->motionModel(acc,ang,q,dt);
return ;
} /* ----- end of method State::motionModel ----- */
void
State::position_covariance ( const Matrix<double,3,3> &p )
{
P.block(0,0,3,3) = p;
return ;
} /* ----- end of method State::position_covariance ----- */
void
State::velocity_covariance ( const Matrix<double,3,3> &p )
{
P.block(3,3,3,3) = p;
return ;
} /* ----- end of method State::velocity_covariance ----- */
void
State::unicsv ( )
{
body->unicsv();
return ;
} /* ----- end of method State::unicsv ----- */
void
State::accelerometer_bias ( const Vector3d &b)
{
body->accelerometer_bias(b);
return ;
} /* ----- end of method State::accelerometer_bias ----- */
/*
*--------------------------------------------------------------------------------------
* Class: State
* Method: State :: exists
* Description: Tests if the id is a current feature.
*--------------------------------------------------------------------------------------
*/
bool
State::exists ( int id )
{
for (auto i=features.begin(); i!=features.end(); ++i) {
if ((*i)->id()==id) return true;
}
return false;
} /* ----- end of method State::exists ----- */
/*
*--------------------------------------------------------------------------------------
* Class: State
* Method: State :: expandP
* Description: Grows P so that Nnew new features can be added. This could mean
* explicitly resizing the P matrix or P being a block of a preallocated matrix.
*--------------------------------------------------------------------------------------
*/
void
State::expandP ( int Nnew )
{
int curRows, newRows;
curRows = P.rows();
newRows = curRows + 3*Nnew;
P.conservativeResize(newRows,newRows);
return ;
} /* ----- end of method State::expandP ----- */
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