ImuFactor.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

/* GTSAM includes */
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/navigation/ManifoldPreintegration.h>
#include <gtsam/navigation/TangentPreintegration.h>
#include <gtsam/base/debug.h>

namespace gtsam {

#ifdef GTSAM_TANGENT_PREINTEGRATION
typedef TangentPreintegration PreintegrationType;
#else
typedef ManifoldPreintegration PreintegrationType;
#endif

/*
 * If you are using the factor, please cite:
 * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, "Eliminating
 * conditionally independent sets in factor graphs: a unifying perspective based
 * on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014.
 *
 * C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
 * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
 * Robotics: Science and Systems (RSS), 2015.
 *
 * REFERENCES:
 * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",
 *     Volume 2, 2008.
 * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for
 *     High-Dynamic Motion in Built Environments Without Initial Conditions",
 *     TRO, 28(1):61-76, 2012.
 * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor:
 *     Computation of the Jacobian Matrices", Tech. Report, 2013.
 * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
 *     Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
 *     Robotics: Science and Systems (RSS), 2015.
 */

class PreintegratedImuMeasurements: public PreintegrationType {

  friend class ImuFactor;
  friend class ImuFactor2;

protected:

  Matrix9 preintMeasCov_; 

  PreintegratedImuMeasurements() {
    preintMeasCov_.setZero();
  }

public:

  PreintegratedImuMeasurements(const boost::shared_ptr<PreintegrationParams>& p,
      const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) :
      PreintegrationType(p, biasHat) {
    preintMeasCov_.setZero();
  }

  PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
     : PreintegrationType(base),
       preintMeasCov_(preintMeasCov) {
  }

  void print(const std::string& s = "Preintegrated Measurements:") const override;

  bool equals(const PreintegratedImuMeasurements& expected, double tol = 1e-9) const;

  void resetIntegration() override;

  void integrateMeasurement(const Vector3& measuredAcc,
      const Vector3& measuredOmega, const double dt) override;

  void integrateMeasurements(const Matrix& measuredAccs, const Matrix& measuredOmegas,
                             const Matrix& dts);

  Matrix preintMeasCov() const { return preintMeasCov_; }

#ifdef GTSAM_TANGENT_PREINTEGRATION
  void mergeWith(const PreintegratedImuMeasurements& pim, Matrix9* H1, Matrix9* H2);
#endif

#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
  PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat,
      const Matrix3& measuredAccCovariance,
      const Matrix3& measuredOmegaCovariance,
      const Matrix3& integrationErrorCovariance,
      bool use2ndOrderIntegration = true);

  void integrateMeasurement(const Vector3& measuredAcc,
      const Vector3& measuredOmega, double dt,
      boost::optional<Pose3> body_P_sensor);
#endif

private:

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    namespace bs = ::boost::serialization;
    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
    ar & bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), preintMeasCov_.size()));
  }
};

class ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
    imuBias::ConstantBias> {
private:

  typedef ImuFactor This;
  typedef NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
      imuBias::ConstantBias> Base;

  PreintegratedImuMeasurements _PIM_;

public:

#if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5
  typedef typename boost::shared_ptr<ImuFactor> shared_ptr;
#else
  typedef boost::shared_ptr<ImuFactor> shared_ptr;
#endif

  ImuFactor() {}

  ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
      const PreintegratedImuMeasurements& preintegratedMeasurements);

  virtual ~ImuFactor() {
  }

  virtual gtsam::NonlinearFactor::shared_ptr clone() const;

  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const ImuFactor&);
  virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
      DefaultKeyFormatter) const;
  virtual bool equals(const NonlinearFactor& expected, double tol = 1e-9) const;

  const PreintegratedImuMeasurements& preintegratedMeasurements() const {
    return _PIM_;
  }

  Vector evaluateError(const Pose3& pose_i, const Vector3& vel_i,
      const Pose3& pose_j, const Vector3& vel_j,
      const imuBias::ConstantBias& bias_i, boost::optional<Matrix&> H1 =
          boost::none, boost::optional<Matrix&> H2 = boost::none,
      boost::optional<Matrix&> H3 = boost::none, boost::optional<Matrix&> H4 =
          boost::none, boost::optional<Matrix&> H5 = boost::none) const;

#ifdef GTSAM_TANGENT_PREINTEGRATION
  static PreintegratedImuMeasurements Merge(
      const PreintegratedImuMeasurements& pim01,
      const PreintegratedImuMeasurements& pim12);

  static shared_ptr Merge(const shared_ptr& f01, const shared_ptr& f12);
#endif

#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
  typedef PreintegratedImuMeasurements PreintegratedMeasurements;

  ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
      const PreintegratedMeasurements& preintegratedMeasurements,
      const Vector3& n_gravity, const Vector3& omegaCoriolis,
      const boost::optional<Pose3>& body_P_sensor = boost::none,
      const bool use2ndOrderCoriolis = false);

  static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j,
      Vector3& vel_j, const imuBias::ConstantBias& bias_i,
      PreintegratedMeasurements& pim, const Vector3& n_gravity,
      const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false);
#endif

private:

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("NoiseModelFactor5",
         boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(_PIM_);
  }
};
// class ImuFactor

class ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
private:

  typedef ImuFactor2 This;
  typedef NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> Base;

  PreintegratedImuMeasurements _PIM_;

public:

  ImuFactor2() {}

  ImuFactor2(Key state_i, Key state_j, Key bias,
             const PreintegratedImuMeasurements& preintegratedMeasurements);

  virtual ~ImuFactor2() {
  }

  virtual gtsam::NonlinearFactor::shared_ptr clone() const;

  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const ImuFactor2&);
  virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
      DefaultKeyFormatter) const;
  virtual bool equals(const NonlinearFactor& expected, double tol = 1e-9) const;

  const PreintegratedImuMeasurements& preintegratedMeasurements() const {
    return _PIM_;
  }

  Vector evaluateError(const NavState& state_i, const NavState& state_j,
                       const imuBias::ConstantBias& bias_i,  //
                       boost::optional<Matrix&> H1 = boost::none,
                       boost::optional<Matrix&> H2 = boost::none,
                       boost::optional<Matrix&> H3 = boost::none) const;

private:

  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & boost::serialization::make_nvp("NoiseModelFactor3",
         boost::serialization::base_object<Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(_PIM_);
  }
};
// class ImuFactor2

template <>
struct traits<PreintegratedImuMeasurements> : public Testable<PreintegratedImuMeasurements> {};

template <>
struct traits<ImuFactor> : public Testable<ImuFactor> {};

template <>
struct traits<ImuFactor2> : public Testable<ImuFactor2> {};

}