refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
2017-03-19	Measurement changes	Martin Miller

2017-03-19	Adjust UTM output and bias.	Martin Miller

2017-03-18	Start Feature::h() method	Martin Miller

2017-03-18	Add Feature class	Martin Miller

2017-03-18	Add changes file	Martin Miller

2017-03-18	Major rewrite moves state variables into state.	Martin Miller
	Rather than maintain X and P in the main function they are moved into the body and state classes, respectively. This will become much more important when features are added and the accounting becomes more complicated.
2017-03-18	Add fake z kalman update	Martin Miller

2017-03-18	Update P during imuCallback	Martin Miller

2017-03-18	Add State class	Martin Miller
	The State class contains the body and feature classes. It is responsible for composing matrices, and performing Kalman updates.
2017-03-18	Update makefile	Martin Miller

2017-03-18	Add support for INSCOVS.	Martin Miller
	The position and velocity covariances are rotated into the correct frames: NED and FRD.
2017-03-18	Adjusted coordinate frame to NED and FRD.	Martin Miller
	The new coordinates frame for the world and the body correspond to Junho's code and work well in other versions of this code.
2017-03-17	Integration is implemented. But there are problems.	Martin Miller
	The coordinates are not working correctly. When I run integration on a known dataset the body seems to turn in the opposite direction of reality. It's probably best to change it to NED and FRD. Currenty it is ENU and RFU.
2017-03-17	Update Makefile	Martin Miller

2017-03-17	Write initial "callback" functions for no ROS.	Martin Miller

2017-03-17	Ignore binary	Martin Miller

2017-03-17	Write C input parser.	Martin Miller
	Sensor inputs can be read in from stdin if compiled without USE_ROS. Now "callback" functions can be written.
2017-03-17	Update Makefile	Martin Miller

2017-03-17	Initial commit	Martin Miller