fast_lio2 released!

include/use-ikfom.hpp

@@ -0,0 +1,126 @@
+#ifndef USE_IKFOM_H
+#define USE_IKFOM_H
+
+#include <IKFoM_toolkit/esekfom/esekfom.hpp>
+
+typedef MTK::vect<3, double> vect3;
+typedef MTK::SO3<double> SO3;
+typedef MTK::S2<double, 98090, 10000, 1> S2; 
+typedef MTK::vect<1, double> vect1;
+typedef MTK::vect<2, double> vect2;
+
+MTK_BUILD_MANIFOLD(state_ikfom,
+((vect3, pos))
+((SO3, rot))
+((SO3, offset_R_L_I))
+((vect3, offset_T_L_I))
+((vect3, vel))
+((vect3, bg))
+((vect3, ba))
+((S2, grav))
+);
+
+MTK_BUILD_MANIFOLD(input_ikfom,
+((vect3, acc))
+((vect3, gyro))
+);
+
+MTK_BUILD_MANIFOLD(process_noise_ikfom,
+((vect3, ng))
+((vect3, na))
+((vect3, nbg))
+((vect3, nba))
+);
+
+MTK::get_cov<process_noise_ikfom>::type process_noise_cov()
+{
+	MTK::get_cov<process_noise_ikfom>::type cov = MTK::get_cov<process_noise_ikfom>::type::Zero();
+	MTK::setDiagonal<process_noise_ikfom, vect3, 0>(cov, &process_noise_ikfom::ng, 0.0001);// 0.03
+	MTK::setDiagonal<process_noise_ikfom, vect3, 3>(cov, &process_noise_ikfom::na, 0.0001); // *dt 0.01 0.01 * dt * dt 0.05
+	MTK::setDiagonal<process_noise_ikfom, vect3, 6>(cov, &process_noise_ikfom::nbg, 0.00001); // *dt 0.00001 0.00001 * dt *dt 0.3 //0.001 0.0001 0.01
+	MTK::setDiagonal<process_noise_ikfom, vect3, 9>(cov, &process_noise_ikfom::nba, 0.00001);   //0.001 0.05 0.0001/out 0.01
+	return cov;
+}
+
+//double L_offset_to_I[3] = {0.04165, 0.02326, -0.0284}; // Avia 
+//vect3 Lidar_offset_to_IMU(L_offset_to_I, 3);
+Eigen::Matrix<double, 24, 1> get_f(state_ikfom &s, const input_ikfom &in)
+{
+	Eigen::Matrix<double, 24, 1> res = Eigen::Matrix<double, 24, 1>::Zero();
+	vect3 omega;
+	in.gyro.boxminus(omega, s.bg);
+	vect3 a_inertial = s.rot * (in.acc-s.ba); 
+	for(int i = 0; i < 3; i++ ){
+		res(i) = s.vel[i];
+		res(i + 3) =  omega[i]; 
+		res(i + 12) = a_inertial[i] + s.grav[i]; 
+	}
+	return res;
+}
+
+Eigen::Matrix<double, 24, 23> df_dx(state_ikfom &s, const input_ikfom &in)
+{
+	Eigen::Matrix<double, 24, 23> cov = Eigen::Matrix<double, 24, 23>::Zero();
+	cov.template block<3, 3>(0, 12) = Eigen::Matrix3d::Identity();
+	vect3 acc_;
+	in.acc.boxminus(acc_, s.ba);
+	vect3 omega;
+	in.gyro.boxminus(omega, s.bg);
+	cov.template block<3, 3>(12, 3) = -s.rot.toRotationMatrix()*MTK::hat(acc_);
+	cov.template block<3, 3>(12, 18) = -s.rot.toRotationMatrix();
+	Eigen::Matrix<state_ikfom::scalar, 2, 1> vec = Eigen::Matrix<state_ikfom::scalar, 2, 1>::Zero();
+	Eigen::Matrix<state_ikfom::scalar, 3, 2> grav_matrix;
+	s.S2_Mx(grav_matrix, vec, 21);
+	cov.template block<3, 2>(12, 21) =  grav_matrix; 
+	cov.template block<3, 3>(3, 15) = -Eigen::Matrix3d::Identity(); 
+	return cov;
+}
+
+
+Eigen::Matrix<double, 24, 12> df_dw(state_ikfom &s, const input_ikfom &in)
+{
+	Eigen::Matrix<double, 24, 12> cov = Eigen::Matrix<double, 24, 12>::Zero();
+	cov.template block<3, 3>(12, 3) = -s.rot.toRotationMatrix();
+	cov.template block<3, 3>(3, 0) = -Eigen::Matrix3d::Identity();
+	cov.template block<3, 3>(15, 6) = Eigen::Matrix3d::Identity();
+	cov.template block<3, 3>(18, 9) = Eigen::Matrix3d::Identity();
+	return cov;
+}
+
+vect3 SO3ToEuler(const SO3 &orient) 
+{
+	Eigen::Matrix<double, 3, 1> _ang;
+	Eigen::Vector4d q_data = orient.coeffs().transpose();
+	//scalar w=orient.coeffs[3], x=orient.coeffs[0], y=orient.coeffs[1], z=orient.coeffs[2];
+	double sqw = q_data[3]*q_data[3];
+	double sqx = q_data[0]*q_data[0];
+	double sqy = q_data[1]*q_data[1];
+	double sqz = q_data[2]*q_data[2];
+	double unit = sqx + sqy + sqz + sqw; // if normalized is one, otherwise is correction factor
+	double test = q_data[3]*q_data[1] - q_data[2]*q_data[0];
+
+	if (test > 0.49999*unit) { // singularity at north pole
+	
+		_ang << 2 * std::atan2(q_data[0], q_data[3]), M_PI/2, 0;
+		double temp[3] = {_ang[0] * 57.3, _ang[1] * 57.3, _ang[2] * 57.3};
+		vect3 euler_ang(temp, 3);
+		return euler_ang;
+	}
+	if (test < -0.49999*unit) { // singularity at south pole
+		_ang << -2 * std::atan2(q_data[0], q_data[3]), -M_PI/2, 0;
+		double temp[3] = {_ang[0] * 57.3, _ang[1] * 57.3, _ang[2] * 57.3};
+		vect3 euler_ang(temp, 3);
+		return euler_ang;
+	}
+		
+	_ang <<
+			std::atan2(2*q_data[0]*q_data[3]+2*q_data[1]*q_data[2] , -sqx - sqy + sqz + sqw),
+			std::asin (2*test/unit),
+			std::atan2(2*q_data[2]*q_data[3]+2*q_data[1]*q_data[0] , sqx - sqy - sqz + sqw);
+	double temp[3] = {_ang[0] * 57.3, _ang[1] * 57.3, _ang[2] * 57.3};
+	vect3 euler_ang(temp, 3);
+		// euler_ang[0] = roll, euler_ang[1] = pitch, euler_ang[2] = yaw
+	return euler_ang;
+}
+
+#endif