summaryrefslogtreecommitdiff
path: root/src/body.h
AgeCommit message (Collapse)Author
2017-03-31Add 1-Point RANSAC.Martin Miller
1-Pt RANSAC is a method for detecting outlier measurements in the EKF framework. This algorithm is as described in Civera 2010.
2017-03-29tweakMartin Miller
2017-03-29Change hardcoded values to definesMartin Miller
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
2017-03-25Update 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
2017-03-20Fix 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.
2017-03-18Start 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.
2017-03-17Integration 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.