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AgeCommit message (Collapse)Author
2017-03-27Change Body::update to Body::dxMartin Miller
Update was too vague since a lot of things get updated. dx more clearly refers to the incremental update after a Kalman update.
2017-03-27Change {State,Body}::enu() to pos()Martin Miller
2017-03-26Fully implemented EKF.Martin Miller
Still needs to be debugged as the result is way off, but it is all there.
2017-03-25Update Body::SMartin Miller
Change variable name to reflect that we are only using Pxx and not the full P matrix.
2017-03-24Body can return velocityMartin Miller
2017-03-22Add feature handling to stateMartin Miller
2017-03-21small changesMartin Miller
2017-03-20Fix Jacobian of motion model.Martin Miller
This fixes a bug that was present in the pyslam code. The Jacobian of the motion model needs to be replaced with: F = I + F*dt
2017-03-20Use hardcoded block sizes. Update skewSymmetric.Martin Miller
We can hardcode block sizes using templates for a possible performance increase. Body::skewSymmetric() was modified to return matrix instead of modifying one in place.
2017-03-19Adjust UTM output and bias.Martin Miller
2017-03-18Start Feature::h() methodMartin Miller
2017-03-18Major 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.
2017-03-18Add fake z kalman updateMartin Miller
2017-03-18Update P during imuCallbackMartin Miller
2017-03-18Add support for INSCOVS.Martin Miller
The position and velocity covariances are rotated into the correct frames: NED and FRD.
2017-03-18Adjusted 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.
2017-03-17Integration 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.