navigation: honor configured IMU bias in LeggedFixedLagSmoother#2515
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ChiyunNoh wants to merge 1 commit intoborglab:developfrom
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navigation: honor configured IMU bias in LeggedFixedLagSmoother#2515ChiyunNoh wants to merge 1 commit intoborglab:developfrom
ChiyunNoh wants to merge 1 commit intoborglab:developfrom
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Use params.imuBias for PIM construction/reset and initialize biasEstimate_ from params.imuBias to keep fixed_lag_single_bias behavior consistent with configured startup bias.
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Summary
This PR fixes an unintentional zero-bias initialization path in
LeggedFixedLagSmoother.The fixed-lag single-bias estimator now consistently uses the configured startup IMU bias from
params.imuBias.Specifically, this PR:
params.imuBiaswhen constructing the preintegration object (pim_)biasEstimate_fromparams.imuBiaspim_withparams_.imuBiasduring full-contact reinitialization instead of using a zero biasMotivation
LeggedEstimatorReplayExampleestimates an initial IMU bias and passes it throughparams.imuBias. However,LeggedFixedLagSmootherpreviously initialized some preintegration paths with a zero bias, even when a non-zero startup bias was configured.This made the
fixed_lag_single_biasvariant inconsistent with the configured initialization and could affect replay results when a non-zero initial bias is provided.Validation
Built and ran the relevant legged estimator target/tests locally:
cmake --build build -j6 --target LeggedEstimatorReplayExamplecmake --build build -j6 --target testLeggedEstimator./build/gtsam/navigation/tests/testLeggedEstimatorpasses with no test failures.