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[Estimation][IMU] refactor the index designation of KF based estimation result #602

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Apr 12, 2024
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[Estimation][IMU] refactor the index designation of KF based estimation result #602

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[Estimation][IMU] refactor the index designation of KF based estimati…
tongtybj Jan 30, 2024
4ad039d
[Estimation][IMU] fix the bug about wrong assigment for acceleration
tongtybj Apr 12, 2024
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37 changes: 14 additions & 23 deletions aerial_robot_estimation/src/sensor/imu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -389,29 +389,20 @@ namespace sensor_plugin

/* publish state date */
state_.header.stamp = imu_stamp_;
tf::Vector3 pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
tf::Vector3 vel = estimator_->getVel(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
state_.states[0].state[0].x = pos.x();
state_.states[1].state[0].x = pos.y();
state_.states[2].state[0].x = pos.z();
state_.states[0].state[0].y = vel.x();
state_.states[1].state[0].y = vel.y();
state_.states[2].state[0].y = vel.z();
state_.states[0].state[0].z = acc_w_.x();
state_.states[1].state[0].z = acc_w_.y();
state_.states[2].state[0].z = acc_w_.z();
pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EXPERIMENT_ESTIMATE);
vel = estimator_->getVel(Frame::BASELINK, aerial_robot_estimation::EXPERIMENT_ESTIMATE);
state_.states[0].state[1].x = pos.x();
state_.states[1].state[1].x = pos.y();
state_.states[2].state[1].x = pos.z();
state_.states[0].state[1].y = vel.x();
state_.states[1].state[1].y = vel.y();
state_.states[2].state[1].y = vel.z();
state_.states[0].state[1].z = acc_w_.x();
state_.states[1].state[1].z = acc_w_.y();
state_.states[2].state[1].z = acc_w_.z();

for (int i = 0; i < 2; i++)
{
tf::Vector3 pos = estimator_->getPos(Frame::BASELINK, i);
tf::Vector3 vel = estimator_->getVel(Frame::BASELINK, i);
state_.states[0].state[i].x = pos.x();
state_.states[1].state[i].x = pos.y();
state_.states[2].state[i].x = pos.z();
state_.states[0].state[i].y = vel.x();
state_.states[1].state[i].y = vel.y();
state_.states[2].state[i].y = vel.z();
state_.states[0].state[i].z = acc_w_.x();
state_.states[1].state[i].z = acc_w_.y();
state_.states[2].state[i].z = acc_w_.z();
}
state_pub_.publish(state_);
}
prev_time = imu_stamp_;
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