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feat(ekf_localizer): input ekf_dt to simple1dfilter #8622

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Aug 29, 2024
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feat(ekf_localizer): input ekf_dt to simple1dfilter #8622

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2586bdd
input ekf_dt to simple1dfilter
YamatoAndo Aug 26, 2024
79e5249
Merge branch 'main' into feat/ekf_localizer/input_ekf_dt_to_simple1df…
TaikiYamada4 Aug 28, 2024
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11 changes: 3 additions & 8 deletions localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,31 +60,27 @@ class Simple1DFilter
var_ = 1e9;
proc_var_x_c_ = 0.0;
};
void init(const double init_obs, const double obs_var, const rclcpp::Time & time)
void init(const double init_obs, const double obs_var)
{
x_ = init_obs;
var_ = obs_var;
latest_time_ = time;
initialized_ = true;
};
void update(const double obs, const double obs_var, const rclcpp::Time & time)
void update(const double obs, const double obs_var, const double dt)
{
if (!initialized_) {
init(obs, obs_var, time);
init(obs, obs_var);
return;
}

// Prediction step (current variance)
double dt = (time - latest_time_).seconds();
double proc_var_x_d = proc_var_x_c_ * dt * dt;
var_ = var_ + proc_var_x_d;

// Update step
double kalman_gain = var_ / (var_ + obs_var);
x_ = x_ + kalman_gain * (obs - x_);
var_ = (1 - kalman_gain) * var_;

latest_time_ = time;
};
void set_proc_var(const double proc_var) { proc_var_x_c_ = proc_var; }
[[nodiscard]] double get_x() const { return x_; }
Expand All @@ -95,7 +91,6 @@ class Simple1DFilter
double x_;
double var_;
double proc_var_x_c_;
rclcpp::Time latest_time_;
};

class EKFLocalizer : public rclcpp::Node
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12 changes: 6 additions & 6 deletions localization/ekf_localizer/src/ekf_localizer.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2018-2019 Autoware Foundation

Check notice on line 1 in localization/ekf_localizer/src/ekf_localizer.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Code Duplication 

The module no longer contains too many functions with similar structure
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -456,9 +456,9 @@
double pitch_var =
pose.pose.covariance[COV_IDX::PITCH_PITCH] * static_cast<double>(smoothing_step);

z_filter_.update(z, z_var, pose.header.stamp);
roll_filter_.update(rpy.x, roll_var, pose.header.stamp);
pitch_filter_.update(rpy.y, pitch_var, pose.header.stamp);
z_filter_.update(z, z_var, ekf_dt_);
roll_filter_.update(rpy.x, roll_var, ekf_dt_);
pitch_filter_.update(rpy.y, pitch_var, ekf_dt_);
}

void EKFLocalizer::init_simple_1d_filters(
Expand All @@ -473,9 +473,9 @@
double roll_var = pose.pose.covariance[COV_IDX::ROLL_ROLL];
double pitch_var = pose.pose.covariance[COV_IDX::PITCH_PITCH];

z_filter_.init(z, z_var, pose.header.stamp);
roll_filter_.init(rpy.x, roll_var, pose.header.stamp);
pitch_filter_.init(rpy.y, pitch_var, pose.header.stamp);
z_filter_.init(z, z_var);
roll_filter_.init(rpy.x, roll_var);
pitch_filter_.init(rpy.y, pitch_var);
}

/**
Expand Down
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