calico::sensors::Accelerometer Class Reference

Accelerometer class. More...

#include <accelerometer.h>

Inheritance diagram for calico::sensors::Accelerometer:

Collaboration diagram for calico::sensors::Accelerometer:

Public Member Functions
	Accelerometer (const Accelerometer &)=delete
Accelerometer &	operator= (const Accelerometer &)=delete
void	SetName (const std::string &name)
const std::string &	GetName () const
void	SetExtrinsics (const Pose3d &T_sensorrig_sensor)
const Pose3d &	GetExtrinsics () const
absl::Status	SetIntrinsics (const Eigen::VectorXd &intrinsics)
const Eigen::VectorXd &	GetIntrinsics () const
absl::Status	SetLatency (double latency)
double	GetLatency () const
void	EnableExtrinsicsEstimation (bool enable)
void	EnableIntrinsicsEstimation (bool enable)
void	EnableLatencyEstimation (bool enable)
void	SetLossFunction (utils::LossFunctionType loss, double scale)
	Setter for loss function and scale.
absl::StatusOr< int >	AddParametersToProblem (ceres::Problem &problem) final
	Add this sensor's calibration parameters to the ceres problem. More...
absl::StatusOr< int >	AddResidualsToProblem (ceres::Problem &problem, Trajectory &sensorrig_trajectory, WorldModel &world_model) final
	Contribue this sensor's residuals to the ceres problem. More...
absl::Status	SetMeasurementNoise (double sigma) final
	Set the measurement noise \(\sigma\). More...
absl::Status	UpdateResiduals (ceres::Problem &problem) final
	Update residuals for this sensor. More...
void	ClearResidualInfo () final
	Clear all stored info about residuals.
absl::StatusOr< std::vector< AccelerometerMeasurement > >	Project (const std::vector< double > &interp_times, const Trajectory &sensorrig_trajectory, const WorldModel &world_model) const
absl::Status	SetModel (AccelerometerIntrinsicsModel accelerometer_model)
	Setter for accelerometer model.
AccelerometerIntrinsicsModel	GetModel () const
	Getter for accelerometer model.
absl::Status	AddMeasurement (const AccelerometerMeasurement &measurement)
	Add an accelerometer measurement to the measurement list. More...
absl::Status	AddMeasurements (const std::vector< AccelerometerMeasurement > &measurements)
	Add multiple measurements to the measurement list. More...
void	ClearMeasurements ()
	Clear all measurements.
int	NumberOfMeasurements () const
	Get current number of measurements stored.

Detailed Description

Accelerometer class.

Member Function Documentation

AddMeasurement()

absl::Status calico::sensors::Accelerometer::AddMeasurement

(

const AccelerometerMeasurement &

measurement

)

Add an accelerometer measurement to the measurement list.

Returns an error if the measurement's id is duplicated without adding.

AddMeasurements()

absl::Status calico::sensors::Accelerometer::AddMeasurements

(

const std::vector< AccelerometerMeasurement > &

measurements

)

Add multiple measurements to the measurement list.

Returns an error status if any measurements are duplicates. This method will add the entire vector, but skips any duplicates. Note: If this method encounters any duplicates, it will STILL attempt to add the entire vector. If it returns an error status, it means that all unique measurements have been added, but duplicates have been skipped.

AddParametersToProblem()

absl::StatusOr< int > calico::sensors::Accelerometer::AddParametersToProblem ( ceres::Problem &  problem )

finalvirtual

Add this sensor's calibration parameters to the ceres problem.

Returns the number of parameters added to the problem, which should be intrinsics + extrinsics + latency. If the sensor's model hasn't been set yet, it will return an invalid argument error.

Implements calico::sensors::Sensor.

AddResidualsToProblem()

absl::StatusOr< int > calico::sensors::Accelerometer::AddResidualsToProblem ( ceres::Problem &  problem, Trajectory &  sensorrig_trajectory, WorldModel &  world_model  )

finalvirtual

Contribue this sensor's residuals to the ceres problem.

sensorrig_trajectory is the world-from-sensorrig trajectory \(\mathbf{T}^w_r(t)\).

Implements calico::sensors::Sensor.

Project()

absl::StatusOr< std::vector< AccelerometerMeasurement > > calico::sensors::Accelerometer::Project	(	const std::vector< double > &	interp_times,
		const Trajectory &	sensorrig_trajectory,
		const WorldModel &	world_model
	)		const

Compute synthetic accelerometer measurements at given a sensorrig trajectory. This method interpolates the sensorrig trajectory at given timestamps and generates synthetic measurements as would be observed by the actual sensor at those timestamps. Gravity points in the direction as defined by WorldModel.

interp_times is a vector of timestamps in seconds at which sensorrig_trajectory will be interpolated. No assumptions are made about timestamp uniqueness or order.

sensorrig_trajectory is the world-from-sensorrig trajectory \(\mathbf{T}^w_r(t)\).

SetMeasurementNoise()

absl::Status calico::sensors::Accelerometer::SetMeasurementNoise ( double  sigma )

finalvirtual

Set the measurement noise \(\sigma\).

This value is used to weight the sensor's residuals such that:

\[ \boldsymbol{\Sigma} = \sigma^2\mathbf{I}\\ \boldsymbol{\epsilon} = \boldsymbol{\Sigma}^{-1/2}\left(\mathbf{y} - \mathbf{\hat{y}}\left(\mathbf{x}, \boldsymbol{\beta}\right)\right)\\ \mathbf{J} = \frac{\partial\boldsymbol{\epsilon}}{\partial\delta\boldsymbol{\beta}}\\ \delta\boldsymbol{\beta} = \left(\mathbf{J}^T\mathbf{J}\right)^{-1}\mathbf{J}^T\boldsymbol{\epsilon} \]

Implements calico::sensors::Sensor.

UpdateResiduals()

absl::Status calico::sensors::Accelerometer::UpdateResiduals ( ceres::Problem &  problem )

finalvirtual

Update residuals for this sensor.

This will only apply to measurements not marked as outliers.

Note: This method is meant to be invoked by BatchOptimizer ONLY. It is not recommended that you invoke this method manually.

Implements calico::sensors::Sensor.

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The documentation for this class was generated from the following files:

• calico/sensors/accelerometer.h
• calico/sensors/accelerometer.cpp