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author | Martin Miller | 2017-03-31 15:54:02 -0500 |
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committer | Martin Miller | 2017-03-31 15:54:02 -0500 |
commit | f21a53aa32f9a005258b129c1e0ef5c7d71890df (patch) | |
tree | 9f138e467e54268f3319c942e04acab10e604044 /src/body.h | |
parent | b330172b4030340586307b46424e34ddd9d11160 (diff) | |
download | refslam-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.h | 4 |
1 files changed, 3 insertions, 1 deletions
@@ -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); |