refslam.git - Refslam. SLAM code from Masters thesis

Age	Commit message (Collapse)	Author
2017-04-11	Set camera and canoe params	Martin Miller

2017-04-09	Update canoe	Martin Miller

2017-04-09	Full state estimation and vision process are working.	Martin Miller

2017-04-07	Begin Vision class.	Martin Miller
	This class can display measurements and featuers and find new features. When complete it will also perform measurements.
2017-04-07	changes	Martin Miller

2017-04-06	Implement quaternion covariance	Martin Miller
	Pq = JPaJ' where J is the Jacobian of the euler to quaternion function
2017-04-05	changes	Martin Miller

2017-04-04	Angular bias must have had z off by a factor of -1	Martin Miller
	Adjusted this and set tentative canoe values.
2017-04-04	Full state mostly implemented.	Martin Miller
	STATESIZE 9 works just as it does for experiment04032017 tag. The quaternion covariance is not being set correctly yet.
2017-04-03	changes	Martin Miller

2017-03-31	height measurement flags	Martin Miller

2017-03-31	Add compile time flags.	Martin Miller

2017-03-31	Update main	Martin Miller

2017-03-29	tweak	Martin Miller

2017-03-29	Change hardcoded values to defines	Martin Miller

2017-03-28	Changes	Martin Miller

2017-03-28	move aboveWater	Martin Miller
	() back to main
2017-03-28	update	Martin Miller

2017-03-27	Tweak main	Martin Miller

2017-03-26	Set height above water.	Martin Miller

2017-03-22	Add feature handling to state	Martin Miller

2017-03-22	Read in image measurements from file	Martin Miller

2017-03-19	Add Camera class	Martin Miller

2017-03-19	Fix img handling	Martin Miller

2017-03-18	Start Feature::h() method	Martin Miller

2017-03-18	Major 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.
2017-03-18	Add fake z kalman update	Martin Miller

2017-03-18	Update P during imuCallback	Martin Miller

2017-03-18	Add support for INSCOVS.	Martin Miller
	The position and velocity covariances are rotated into the correct frames: NED and FRD.
2017-03-17	Integration 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.
2017-03-17	Write initial "callback" functions for no ROS.	Martin Miller

2017-03-17	Write C input parser.	Martin Miller
	Sensor inputs can be read in from stdin if compiled without USE_ROS. Now "callback" functions can be written.