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Patch for new SArray to MArray issue in IMUDeltaFactor #714

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Nov 9, 2023
Merged

Patch for new SArray to MArray issue in IMUDeltaFactor #714

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3d2dd86
Patch for new SArray to MArray issue
Affie Nov 8, 2023
5fa1d47
test basic solve on imu factor
Affie Nov 9, 2023
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14 changes: 14 additions & 0 deletions src/factors/Inertial/IMUDeltaFactor.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -369,6 +369,20 @@ function (cf::CalcFactor{<:IMUDeltaFactor})(
return cf(Δmeas, p, q, b)
end

# ArrayPartition{Float64, Tuple{MMatrix{3, 3, Float64, 9}, MVector{3, Float64}, MVector{3, Float64}}}
function (cf::CalcFactor{<:IMUDeltaFactor})(
Δmeas, # point on IMUDeltaGroup
_p::ArrayPartition{Float64, Tuple{MMatrix{3, 3, Float64, 9}, MVector{3, Float64}, MVector{3, Float64}}},
_q::ArrayPartition{Float64, Tuple{MMatrix{3, 3, Float64, 9}, MVector{3, Float64}, MVector{3, Float64}}},
b::AbstractVector = zeros(SVector{6,Float64})
)
p_t = Dates.value(cf.cache.timestams[1])*1e-9
q_t = Dates.value(cf.cache.timestams[2])*1e-9
p = ArrayPartition(SMatrix{3,3,Float64,9}(_p.x[1]), SVector{3}(_p.x[2]), SVector{3}(_p.x[3]), p_t)
q = ArrayPartition(SMatrix{3,3,Float64,9}(_q.x[1]), SVector{3}(_q.x[2]), SVector{3}(_q.x[3]), q_t)
return cf(Δmeas, p, q, SVector{6}(b))
end

function (cf::CalcFactor{<:IMUDeltaFactor})(
Δmeas,
p_SE3,
Expand Down
38 changes: 38 additions & 0 deletions test/inertial/testIMUDeltaFactor.jl
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Expand Up @@ -7,6 +7,7 @@ using DistributedFactorGraphs
using RoME
using RoME: IMUDeltaGroup
using Dates
using StaticArrays
# using ManifoldDiff

##
Expand Down Expand Up @@ -130,6 +131,11 @@ Y = hat(M, SA[0.9, 0.8, 0.7, 0.6, 0.5, 0.4, 0.3, 0.2, 0.1, 1] * 0.1)
# Z1 = ManifoldDiff.differential_exp_argument_lie_approx(M, p, X, Y)
Z2 = RoME.Jr(M, X) * vee(M, Y)

#test right jacobian with [Ad(g)] = Jl*Jr⁻¹ - Chirikjian p29
jr = RoME.Jr(M, X)
jl = RoME.Jr(M, -X)
@test isapprox(jl*inv(jr), Adₚ)

θ=asin(0.1)*10 # for precicely 0.1
X = hat(M, SA[1,0,0, 0,0,0, 0,0,θ, 1] * 0.1)
p = exp(M, ϵ, X)
Expand Down Expand Up @@ -193,6 +199,38 @@ q = ArrayPartition(SMatrix{3,3}(ΔR), SA[0.,0,-1], SA[1.,0,-0.5], 1.0)
a_b = SA[0.,0,0]
ω_b = SA[0.,0,0]

@defVariable RotVelPos Manifolds.ProductGroup(ProductManifold(SpecialOrthogonal(3), TranslationGroup(3), TranslationGroup(3))) ArrayPartition(SA[1 0 0; 0 1 0; 0 0 1.0], SA[0; 0; 0.0], SA[0;0;0.0])
Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(getManifold(RotVelPos))}) = (:Circular,:Circular,:Circular,:Euclid,:Euclid,:Euclid,:Euclid,:Euclid,:Euclid)

fg = initfg()
fg.solverParams.graphinit = false

foreach(enumerate(Nanosecond.(timestamps[[1,end]] * 10^9))) do (i, nanosecondtime)
addVariable!(fg, Symbol("x",i-1), RotVelPos; nanosecondtime)
end

addFactor!(
fg,
[:x0],
ManifoldPrior(
getManifold(RotVelPos),
ArrayPartition(SA[1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], SA[10.0, 0.0, 0.0], SA[0.0, 0.0, 0.0]),
MvNormal(diagm(ones(9)*1e-3))
)
)

addFactor!(fg, [:x0, :x1], fac)

@time IIF.solveGraphParametric!(fg; is_sparse=false, damping_term_min=1e-12, expect_zero_residual=true);
# @time IIF.solveGraphParametric!(fg; stopping_criterion, debug, is_sparse=false, damping_term_min=1e-12, expect_zero_residual=true);

getVariableSolverData(fg, :x0, :parametric).val[1] ≈ ArrayPartition(SA[1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], SA[10.0, 0.0, 0.0], SA[0.0, 0.0, 0.0])
x1 = getVariableSolverData(fg, :x1, :parametric).val[1]
@test isapprox(SpecialOrthogonal(3), x1.x[1], ΔR, atol=1e-5)
@test isapprox(x1.x[2], [10, 0, -1], atol=1e-3)
@test isapprox(x1.x[3], [10, 0, -0.5], atol=1e-3)


dt = 0.01
N = 11
dT = (N-1)*dt
Expand Down