Fixing the EKF example and change linearization point initialization #848
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dellaert
reviewed
Aug 16, 2021
| @@ -58,6 +59,8 @@ class ExtendedKalmanFilter { | |||
| protected: | |||
| T x_; // linearization point | |||
| JacobianFactor::shared_ptr priorFactor_; // Gaussian density on x_ | |||
| GaussianFactorGraph::shared_ptr lastLinearization; | |||
| linearizationPoint.insert(keys[1], x_); // TODO should this really be x_ ? | ||
| linearFactorGraph.push_back(motionFactor.linearize(linearizationPoint)); | ||
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| if (lastLinearization != nullptr) { |
| @@ -82,20 +83,38 @@ namespace gtsam { | |||
| const auto keys = motionFactor.keys(); | |||
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| // Create a Gaussian Factor Graph | |||
| GaussianFactorGraph linearFactorGraph; | |||
| GaussianFactorGraph::shared_ptr linearFactorGraph = boost::make_shared<GaussianFactorGraph>(); | |||
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Why did you change this to a pointer?
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@ProfFan address comments so we can merge |
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This PR tries to change the linearization point to a linear expolation of the current estimate using the previous linearization.
However I found this to be not as useful as it would be in the intended usage in GTSAM:
In making this change I also found out that the
easyPoint2KalmanFilterexample has a typo, which I also fixed.If we decide that this is unnecessary, I can keep only the typo fix.