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242 lines
12 KiB
242 lines
12 KiB
#!/usr/bin/env python3
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import sys
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import os
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import numpy as np
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from openpilot.selfdrive.locationd.models.constants import ObservationKind
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import sympy as sp
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import inspect
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from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
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from rednose.helpers.ekf_sym import gen_code
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EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth)
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def numpy2eigenstring(arr):
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assert(len(arr.shape) == 1)
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arr_str = np.array2string(arr, precision=20, separator=',')[1:-1].replace(' ', '').replace('\n', '')
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return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
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class States:
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ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters
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ECEF_ORIENTATION = slice(3, 7) # quat for pose of phone in ecef
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ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s
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ANGULAR_VELOCITY = slice(10, 13) # roll, pitch and yaw rates in device frame in radians/s
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GYRO_BIAS = slice(13, 16) # roll, pitch and yaw biases
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ACCELERATION = slice(16, 19) # Acceleration in device frame in m/s**2
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ACC_BIAS = slice(19, 22) # Acceletometer bias in m/s**2
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# Error-state has different slices because it is an ESKF
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ECEF_POS_ERR = slice(0, 3)
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ECEF_ORIENTATION_ERR = slice(3, 6) # euler angles for orientation error
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ECEF_VELOCITY_ERR = slice(6, 9)
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ANGULAR_VELOCITY_ERR = slice(9, 12)
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GYRO_BIAS_ERR = slice(12, 15)
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ACCELERATION_ERR = slice(15, 18)
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ACC_BIAS_ERR = slice(18, 21)
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class LiveKalman:
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name = 'live'
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initial_x = np.array([3.88e6, -3.37e6, 3.76e6,
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0.42254641, -0.31238054, -0.83602975, -0.15788347, # NED [0,0,0] -> ECEF Quat
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0, 0, 0,
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0, 0, 0,
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0, 0, 0,
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0, 0, 0,
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0, 0, 0])
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# state covariance
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initial_P_diag = np.array([10**2, 10**2, 10**2,
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0.01**2, 0.01**2, 0.01**2,
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10**2, 10**2, 10**2,
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1**2, 1**2, 1**2,
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1**2, 1**2, 1**2,
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100**2, 100**2, 100**2,
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0.01**2, 0.01**2, 0.01**2])
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# state covariance when resetting midway in a segment
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reset_orientation_diag = np.array([1**2, 1**2, 1**2])
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# fake observation covariance, to ensure the uncertainty estimate of the filter is under control
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fake_gps_pos_cov_diag = np.array([1000**2, 1000**2, 1000**2])
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fake_gps_vel_cov_diag = np.array([10**2, 10**2, 10**2])
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# process noise
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Q_diag = np.array([0.03**2, 0.03**2, 0.03**2,
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0.001**2, 0.001**2, 0.001**2,
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0.01**2, 0.01**2, 0.01**2,
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0.1**2, 0.1**2, 0.1**2,
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(0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
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3**2, 3**2, 3**2,
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0.005**2, 0.005**2, 0.005**2])
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obs_noise_diag = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
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ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
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ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2]),
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ObservationKind.NO_ROT: np.array([0.005**2, 0.005**2, 0.005**2]),
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ObservationKind.NO_ACCEL: np.array([0.05**2, 0.05**2, 0.05**2]),
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ObservationKind.ECEF_POS: np.array([5**2, 5**2, 5**2]),
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ObservationKind.ECEF_VEL: np.array([.5**2, .5**2, .5**2]),
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ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.array([.2**2, .2**2, .2**2, .2**2])}
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@staticmethod
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def generate_code(generated_dir):
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name = LiveKalman.name
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dim_state = LiveKalman.initial_x.shape[0]
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dim_state_err = LiveKalman.initial_P_diag.shape[0]
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state_sym = sp.MatrixSymbol('state', dim_state, 1)
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state = sp.Matrix(state_sym)
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x, y, z = state[States.ECEF_POS, :]
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q = state[States.ECEF_ORIENTATION, :]
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v = state[States.ECEF_VELOCITY, :]
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vx, vy, vz = v
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omega = state[States.ANGULAR_VELOCITY, :]
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vroll, vpitch, vyaw = omega
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roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
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acceleration = state[States.ACCELERATION, :]
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acc_bias = state[States.ACC_BIAS, :]
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dt = sp.Symbol('dt')
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# calibration and attitude rotation matrices
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quat_rot = quat_rotate(*q)
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# Got the quat predict equations from here
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# A New Quaternion-Based Kalman Filter for
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# Real-Time Attitude Estimation Using the Two-Step
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# Geometrically-Intuitive Correction Algorithm
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A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw],
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[vroll, 0, vyaw, -vpitch],
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[vpitch, -vyaw, 0, vroll],
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[vyaw, vpitch, -vroll, 0]])
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q_dot = A * q
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# Time derivative of the state as a function of state
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state_dot = sp.Matrix(np.zeros((dim_state, 1)))
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state_dot[States.ECEF_POS, :] = v
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state_dot[States.ECEF_ORIENTATION, :] = q_dot
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state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration
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# Basic descretization, 1st order intergrator
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# Can be pretty bad if dt is big
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f_sym = state + dt * state_dot
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state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1)
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state_err = sp.Matrix(state_err_sym)
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quat_err = state_err[States.ECEF_ORIENTATION_ERR, :]
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v_err = state_err[States.ECEF_VELOCITY_ERR, :]
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omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :]
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acceleration_err = state_err[States.ACCELERATION_ERR, :]
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# Time derivative of the state error as a function of state error and state
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quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2])
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q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err)
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state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1)))
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state_err_dot[States.ECEF_POS_ERR, :] = v_err
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state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot
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state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
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f_err_sym = state_err + dt * state_err_dot
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# Observation matrix modifier
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H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
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H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start)
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H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:]
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H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop)
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# these error functions are defined so that say there
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# is a nominal x and true x:
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# true x = err_function(nominal x, delta x)
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# delta x = inv_err_function(nominal x, true x)
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nom_x = sp.MatrixSymbol('nom_x', dim_state, 1)
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true_x = sp.MatrixSymbol('true_x', dim_state, 1)
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delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
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err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
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delta_quat = sp.Matrix(np.ones(4))
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delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
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err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
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err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat
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err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :])
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inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
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inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0])
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delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0]
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inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:])
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inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0])
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eskf_params = [[err_function_sym, nom_x, delta_x],
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[inv_err_function_sym, nom_x, true_x],
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H_mod_sym, f_err_sym, state_err_sym]
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#
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# Observation functions
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#
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h_gyro_sym = sp.Matrix([
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vroll + roll_bias,
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vpitch + pitch_bias,
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vyaw + yaw_bias])
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pos = sp.Matrix([x, y, z])
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gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos)
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h_acc_sym = (gravity + acceleration + acc_bias)
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h_acc_stationary_sym = acceleration
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h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
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h_pos_sym = sp.Matrix([x, y, z])
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h_vel_sym = sp.Matrix([vx, vy, vz])
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h_orientation_sym = q
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h_relative_motion = sp.Matrix(quat_rot.T * v)
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obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None],
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[h_phone_rot_sym, ObservationKind.NO_ROT, None],
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[h_acc_sym, ObservationKind.PHONE_ACCEL, None],
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[h_pos_sym, ObservationKind.ECEF_POS, None],
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[h_vel_sym, ObservationKind.ECEF_VEL, None],
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[h_orientation_sym, ObservationKind.ECEF_ORIENTATION_FROM_GPS, None],
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[h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
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[h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
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[h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
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# this returns a sympy routine for the jacobian of the observation function of the local vel
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in_vec = sp.MatrixSymbol('in_vec', 6, 1) # roll, pitch, yaw, vx, vy, vz
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h = euler_rotate(in_vec[0], in_vec[1], in_vec[2]).T * (sp.Matrix([in_vec[3], in_vec[4], in_vec[5]]))
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extra_routines = [('H', h.jacobian(in_vec), [in_vec])]
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gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, extra_routines=extra_routines)
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# write constants to extra header file for use in cpp
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live_kf_header = "#pragma once\n\n"
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live_kf_header += "#include <unordered_map>\n"
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live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
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for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)):
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assert(slc.step is None) # unsupported
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live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
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live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
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live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
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live_kf_header += "\n"
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for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)):
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live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
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live_kf_header += "\n"
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live_kf_header += f"static const Eigen::VectorXd live_initial_x = {numpy2eigenstring(LiveKalman.initial_x)};\n"
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live_kf_header += f"static const Eigen::VectorXd live_initial_P_diag = {numpy2eigenstring(LiveKalman.initial_P_diag)};\n"
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live_kf_header += f"static const Eigen::VectorXd live_fake_gps_pos_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_pos_cov_diag)};\n"
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live_kf_header += f"static const Eigen::VectorXd live_fake_gps_vel_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_vel_cov_diag)};\n"
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live_kf_header += f"static const Eigen::VectorXd live_reset_orientation_diag = {numpy2eigenstring(LiveKalman.reset_orientation_diag)};\n"
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live_kf_header += f"static const Eigen::VectorXd live_Q_diag = {numpy2eigenstring(LiveKalman.Q_diag)};\n"
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live_kf_header += "static const std::unordered_map<int, Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> live_obs_noise_diag = {\n"
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for kind, noise in LiveKalman.obs_noise_diag.items():
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live_kf_header += f" {{ {kind}, {numpy2eigenstring(noise)} }},\n"
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live_kf_header += "};\n\n"
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open(os.path.join(generated_dir, "live_kf_constants.h"), 'w').write(live_kf_header)
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if __name__ == "__main__":
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generated_dir = sys.argv[2]
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LiveKalman.generate_code(generated_dir)
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