Unit tests for dynamics jacobians

ucla-vision / xivo

X Inertial-aided Visual Odometry

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Unit tests for dynamics jacobians #56

Open stephanietsuei opened 2 years ago

stephanietsuei commented 2 years ago

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 commented 2 years ago

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 commented 2 years ago

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