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authorMartin Miller2017-03-31 15:54:02 -0500
committerMartin Miller2017-03-31 15:54:02 -0500
commitf21a53aa32f9a005258b129c1e0ef5c7d71890df (patch)
tree9f138e467e54268f3319c942e04acab10e604044 /src/body.h
parentb330172b4030340586307b46424e34ddd9d11160 (diff)
downloadrefslam-f21a53aa32f9a005258b129c1e0ef5c7d71890df.zip
refslam-f21a53aa32f9a005258b129c1e0ef5c7d71890df.tar.gz
Add 1-Point RANSAC.
1-Pt RANSAC is a method for detecting outlier measurements in the EKF framework. This algorithm is as described in Civera 2010.
Diffstat (limited to 'src/body.h')
-rw-r--r--src/body.h4
1 files changed, 3 insertions, 1 deletions
diff --git a/src/body.h b/src/body.h
index f9d3157..90e1998 100644
--- a/src/body.h
+++ b/src/body.h
@@ -3,7 +3,7 @@
#include <Eigen/Dense>
#include <iostream>
#include "types.h"
-#define R_HEIGHT 1e-2 /* measurement noise of height measurement */
+#define R_HEIGHT 2.5e-3 /* measurement noise of height measurement */
#define IMU_NOISE 800e-6 /* IMU process noise */
#define IMU_RANDOMWALK 50e-6 /* Bias process noise */
using Eigen::Matrix;
@@ -23,11 +23,13 @@ class Body
Body (){}; /* constructor */
/* ==================== ACCESSORS ======================================= */
+ Matrix<double,9,1> asVector();
Vector3d ned();
Vector3d vel();
/* ==================== MUTATORS ======================================= */
void accelerometer_bias( const Vector3d &b);
+ void asVector(const Matrix<double,9,1> &m);
void pos( const UTM &utm);
void dx( const Matrix<double,9,1> &del);
void vel(const Matrix<double,3,1> &v);