imu_updater.hpp

// Copyright 2023 Jacob Hartzer
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef EKF__UPDATE__IMU_UPDATER_HPP_
#define EKF__UPDATE__IMU_UPDATER_HPP_
 
#include <eigen3/Eigen/Eigen>
 
#include <memory>
#include <string>
 
#include "ekf/update/updater.hpp"
#include "infrastructure/data_logger.hpp"
 
class ImuUpdater : public Updater
{
public:
  ImuUpdater(
    unsigned int imu_id,
    bool is_extrinsic,
    bool is_intrinsic,
    const std::string & log_file_directory,
    double data_log_rate,
    std::shared_ptr<DebugLogger> logger
  );
 
  Eigen::VectorXd PredictMeasurement(EKF & ekf);
 
  Eigen::MatrixXd GetZeroAccelerationJacobian(EKF & ekf);
 
  void UpdateEKF(
    EKF & ekf,
    double time,
    const Eigen::Vector3d & acceleration,
    const Eigen::Matrix3d & acceleration_covariance,
    const Eigen::Vector3d & angular_rate,
    const Eigen::Matrix3d & angular_rate_covariance
  );
 
  bool ZeroAccelerationUpdate(
    EKF & ekf,
    double local_time,
    const Eigen::Vector3d & acceleration,
    const Eigen::Matrix3d & acceleration_covariance,
    const Eigen::Vector3d & angular_rate,
    const Eigen::Matrix3d & angular_rate_covariance
  );
 
  Eigen::MatrixXd GetMeasurementJacobian(EKF & ekf);
 
  void AngularUpdate(
    EKF & ekf,
    const Eigen::Vector3d & angular_rate,
    const Eigen::Matrix3d & angular_rate_covariance
  );
 
private:
  Eigen::Vector3d m_pos_i_in_g {0.0, 0.0, 0.0};
  Eigen::Quaterniond m_ang_i_to_b {1.0, 0.0, 0.0, 0.0};
  bool m_is_extrinsic;
  bool m_is_intrinsic;
  bool m_initial_motion_detected{false};
  // bool m_correct_heading_rotation{true};
 
  DataLogger m_data_logger;
};
 
#endif  // EKF__UPDATE__IMU_UPDATER_HPP_