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The State class contains the body and feature classes. It is responsible
for composing matrices, and performing Kalman updates.
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The position and velocity covariances are rotated into the correct
frames: NED and FRD.
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The new coordinates frame for the world and the body correspond to
Junho's code and work well in other versions of this code.
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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.
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Sensor inputs can be read in from stdin if compiled without USE_ROS.
Now "callback" functions can be written.
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