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AgeCommit message (Collapse)Author
2017-07-03add feature noise params to cliMartin Miller
2017-04-11Nice quatviz-2 resultMartin Miller
2017-04-08Add code to perform a guided measurement.Martin Miller
The Vision class can template match in a search region. The search region result is masked by an ellipse related to the S matrix of the feature.
2017-04-07Fixed initialization of quaternion covariance.Martin Miller
Previously, we were using deg^2 where it should have been rad^2.
2017-04-07changesMartin Miller
2017-04-06Implement quaternion covarianceMartin Miller
Pq = J*Pa*J' where J is the Jacobian of the euler to quaternion function
2017-04-05changesMartin Miller
2017-04-04Full state mostly implemented.Martin Miller
STATESIZE 9 works just as it does for experiment04032017 tag. The quaternion covariance is not being set correctly yet.
2017-04-03changesMartin Miller
2017-03-31height measurement flagsMartin Miller
2017-03-31Add compile time flags.Martin Miller
2017-03-31Update mainMartin Miller
2017-03-29tweakMartin Miller
2017-03-29Allow for the usage of REFLECTION and MONO features.Martin Miller
Feature methods were updated to accomodate both types of features.
2017-03-29Change hardcoded values to definesMartin Miller
2017-03-28fix lineparse with typecasetMartin Miller
2017-03-28ChangesMartin Miller
2017-03-28move aboveWaterMartin Miller
() back to main
2017-03-28updateMartin Miller
2017-03-27EKF is workingMartin Miller
2017-03-27Change {State,Body}::enu() to pos()Martin Miller
2017-03-27Tweak mainMartin Miller
2017-03-26Fully implemented EKF.Martin Miller
Still needs to be debugged as the result is way off, but it is all there.
2017-03-26Set height above water.Martin Miller
2017-03-22Add feature handling to stateMartin Miller
2017-03-22Read in image measurements from fileMartin Miller
2017-03-21small changesMartin Miller
2017-03-19Add Camera classMartin Miller
2017-03-19Fix img handlingMartin Miller
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.
2017-03-17Write initial "callback" functions for no ROS.Martin Miller
2017-03-17Write C input parser.Martin Miller
Sensor inputs can be read in from stdin if compiled without USE_ROS. Now "callback" functions can be written.