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Published 20 hours ago • verified publisher icon ucla-vision

Unit tests for dynamics jacobians

Open stephanietsuei opened this issue 2 years ago • 2 comments

Write unit tests for dynamics jacobians that compare analytical values to first-order numerical approximations with a small step size. (Similar unit tests have been implemented in src/tests/unittest_jacobians_instate.cpp for the measurement update.)

If the unit tests fail, then fix the dynamics jacobians.

stephanietsuei avatar Apr 21 '22 02:04 stephanietsuei

Jacobians are coded (correctly, I believe) in branch dynamics_jacobians. However, Rodrigues's formula is highly nonlinear and creates numeric difficulties, as is evidenced in file unitests_jacobians.cpp and the commit history.

stephanietsuei avatar May 12 '22 22:05 stephanietsuei

Tried again in jacobians_take_two branch after switching to Sophus. Same problems came up.

stephanietsuei avatar Jul 22 '22 16:07 stephanietsuei