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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
2017-03-19Add feature ConstructorMartin Miller
2017-03-19Add Feature::S() method.Martin Miller
This is a method for computing S for an independent measurement. It can provide a speed improvement over computing a full, correlated S, but may reduce quality if correlated measurements are treated as independent.
2017-03-19Add motion model.Martin Miller
The motion model is broken into two parts, the creation of the L matrix and the state update. This means that ydot can be computed from the state object for many features at once, saving computation time.
2017-03-19Implement feature measurement prediction.Martin Miller
Used a slightly simplified expression to compute pib0. Replaced the Householder Transform with quaternion based reflection (untested).
2017-03-18Start Feature::h() methodMartin Miller
2017-03-18Add Feature classMartin Miller