Adding Non Holonomic constraint
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Alessio Parmeggiani
Aug 28, 2025, 9:29:28 AM (10 days ago) Aug 28
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Hello, I would like to know if anyone know of tips or references on how to add NH constraints to a system, as I am estimating the poses of a robot that can't move along the vertical and lateral direction.
I tried using prior factors on the velocity (setting lateral and upward velocity to 0, and setting high sigma for forward velocity and low sigma for the other directions) and between factors between subsequent Pose3 (setting the delta pose as 0 for the lateral and upward direction and sigmas like above) but I am getting mixed results.
Looking at the marginals of the poses it doesn't seems to have the correct influence and strange behavior happens when the NH prior factor is used with a combinedIMUFactor.
Do you know if there is a standard way to implement this type of constraint?
Thank you
I tried using prior factors on the velocity (setting lateral and upward velocity to 0, and setting high sigma for forward velocity and low sigma for the other directions) and between factors between subsequent Pose3 (setting the delta pose as 0 for the lateral and upward direction and sigmas like above) but I am getting mixed results.
Looking at the marginals of the poses it doesn't seems to have the correct influence and strange behavior happens when the NH prior factor is used with a combinedIMUFactor.
Do you know if there is a standard way to implement this type of constraint?
Thank you
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