96 lines
3.3 KiB
C++
Executable File
96 lines
3.3 KiB
C++
Executable File
/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/imu_tracker.h"
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#include "absl/memory/memory.h"
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#include "cartographer/mapping/internal/eigen_quaterniond_from_two_vectors.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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constexpr double kDuration = 3.f;
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constexpr double kGravityTimeConstant = 0.1 * kDuration;
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constexpr double kPrecision = 1e-8;
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constexpr int kSteps = 10;
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class ImuTrackerTest : public ::testing::Test {
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protected:
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void SetUp() override {
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imu_tracker_ = absl::make_unique<ImuTracker>(kGravityTimeConstant, time_);
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angular_velocity_ = Eigen::Vector3d(0, 0, 0);
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linear_acceleration_ = Eigen::Vector3d(0, 0, 9.9);
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EXPECT_NEAR(0.,
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imu_tracker_->orientation().angularDistance(
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Eigen::Quaterniond::Identity()),
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kPrecision);
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}
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void AdvanceImu() {
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for (int i = 0; i < kSteps; ++i) {
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imu_tracker_->AddImuLinearAccelerationObservation(linear_acceleration_);
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imu_tracker_->AddImuAngularVelocityObservation(angular_velocity_);
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time_ += common::FromSeconds(kDuration / kSteps);
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imu_tracker_->Advance(time_);
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}
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EXPECT_EQ(time_, imu_tracker_->time());
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}
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Eigen::Vector3d angular_velocity_;
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std::unique_ptr<ImuTracker> imu_tracker_;
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Eigen::Vector3d linear_acceleration_;
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common::Time time_ = common::FromUniversal(12345678);
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};
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TEST_F(ImuTrackerTest, IntegrateYawRotation) {
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angular_velocity_ = Eigen::Vector3d(0, 0, 0.3);
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AdvanceImu();
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Eigen::Quaterniond expected_orientation(Eigen::AngleAxisd(
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kDuration * angular_velocity_.norm(), angular_velocity_.normalized()));
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EXPECT_NEAR(0.,
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imu_tracker_->orientation().angularDistance(expected_orientation),
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kPrecision);
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}
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TEST_F(ImuTrackerTest, IntegrateFullRotation) {
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angular_velocity_ = Eigen::Vector3d(0.1, 0.4, 0.1);
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// Using a huge gravity time constant effectively disables gravity vector
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// tracking.
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imu_tracker_.reset(new ImuTracker(1e10 * kDuration, time_));
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AdvanceImu();
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Eigen::Quaterniond expected_orientation(Eigen::AngleAxisd(
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kDuration * angular_velocity_.norm(), angular_velocity_.normalized()));
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EXPECT_NEAR(0.,
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imu_tracker_->orientation().angularDistance(expected_orientation),
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kPrecision);
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}
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TEST_F(ImuTrackerTest, LearnGravityVector) {
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linear_acceleration_ = Eigen::Vector3d(0.5, 0.3, 9.5);
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AdvanceImu();
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const Eigen::Quaterniond expected_orientation =
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FromTwoVectors(linear_acceleration_, Eigen::Vector3d::UnitZ());
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EXPECT_NEAR(0.,
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imu_tracker_->orientation().angularDistance(expected_orientation),
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kPrecision);
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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