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Using angles library to normalize angles #739

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merged 2 commits into from
Apr 25, 2022
Merged

Using angles library to normalize angles #739

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1cc497b
Protect wrapping angles from NaN and inf +/- in ekf and ukf filter
Mar 11, 2022
cd78988
using angles library from ros
Apr 25, 2022
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6 changes: 4 additions & 2 deletions src/ekf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include <Eigen/Dense>
#include <rclcpp/duration.hpp>
#include <vector>
#include <cmath>

namespace robot_localization
{
Expand Down Expand Up @@ -173,9 +174,10 @@ void Ekf::correct(const Measurement & measurement)

// Wrap angles in the innovation
for (size_t i = 0; i < update_size; ++i) {
if (update_indices[i] == StateMemberRoll ||
if ((update_indices[i] == StateMemberRoll ||
update_indices[i] == StateMemberPitch ||
update_indices[i] == StateMemberYaw)
update_indices[i] == StateMemberYaw) &&
std::isfinite(innovation_subset(i)))
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So if the innovation has values that are not finite, we should look into why. Otherwise, this feels like we're trying to just cover up a bigger issue.

Also, oof. I need to update this code to use this.

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Probably is not your fault - I modified little a bit this code and BANG I got infinity loop. I think, this function should be protected against wrong values.

I will try to add "angles" library

{
while (innovation_subset(i) < -PI) {
innovation_subset(i) += TAU;
Expand Down
6 changes: 4 additions & 2 deletions src/ukf.cpp
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Expand Up @@ -34,6 +34,7 @@
#include <robot_localization/ukf.hpp>
#include <Eigen/Cholesky>
#include <vector>
#include <cmath>


namespace robot_localization
Expand Down Expand Up @@ -240,9 +241,10 @@ void Ukf::correct(const Measurement & measurement)

// Wrap angles in the innovation
for (size_t i = 0; i < updateSize; ++i) {
if (update_indices[i] == StateMemberRoll ||
if ((update_indices[i] == StateMemberRoll ||
update_indices[i] == StateMemberPitch ||
update_indices[i] == StateMemberYaw)
update_indices[i] == StateMemberYaw) &&
std::isfinite(innovation_subset(i)))
{
while (innovation_subset(i) < -PI) {
innovation_subset(i) += TAU;
Expand Down