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AgeCommit message (Collapse)Author
2017-03-19Add Camera classMartin Miller
2017-03-19Fix img handlingMartin 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.
2017-03-17Integration 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.