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Commits on Aug 14, 2018

• Update README.md

  georgwi

  authored
  d30b841

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• Remove allocations from the linear acceleration sensor and improve the test.

  

  Georg Wiedebach

  committed
  2dab804

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• Update README.md

  georgwi

  authored
  71674f5

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Commits on Aug 13, 2018

• Fixed a bug and improved a test.

  

  Georg Wiedebach

  committed
  c0738b8

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Commits on Aug 12, 2018

• Trust the initial state of the filter more (since we indeed initialize the filter to the current state of the robots).

  

  Georg Wiedebach

  committed
  005d3eb

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• Added a random walk to the measurement corruption of the IMU measurements.

  

  Georg Wiedebach

  committed
  c3f124c

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• Added a simulated encoder resolution to the measurement corruption.

  

  Georg Wiedebach

  committed
  751373e

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• Added noise for the IMU and improved the noise model.

  

  Georg Wiedebach

  committed
  c21d70a

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• Removed unused classes.

  

  Georg Wiedebach

  committed
  82e7dbc

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• Extracting tools methods.

  

  Georg Wiedebach

  committed
  2468129

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• Major cleanup and fixes in the linear acceleration sensor.

  

  Georg Wiedebach

  committed
  fdd2c62

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Commits on Aug 1, 2018

• Removed gravity estimation. Instead start working on orientation estimation based on the gravity measurement if the robot is not moving.

  

  Georg Wiedebach

  committed
  ca17d05

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Commits on Jul 27, 2018

• Make linear acceleration sensor independent from IMU definition.

  

  Georg Wiedebach

  committed
  b92d3e1

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• Fix a test and remove some printouts after adding gravity to the estimated state.

  

  Georg Wiedebach

  committed
  138de42

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• Update README.md

  georgwi

  authored
  036aa21

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• Update README.md

  georgwi

  authored
  5f46dbe

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• Extracted the common code between the linear and angular body velocity sensors.

  

  Georg Wiedebach

  committed
  a1e1753

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• Cleanup and improvement to the body velocity sensors.

  

  Georg Wiedebach

  committed
  1843d9a

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Commits on Jul 25, 2018

• Implemented a zero velocity sensor that can now be added to the base of a robot. Still need to make it more generic and allow enabling and disabling it.

  

  Georg Wiedebach

  committed
  36bae44

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• Add gravity to the robot state to be estimated.

  

  Georg Wiedebach

  committed
  79173f4

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• Added a bias state to the linear acceleration sensor.

  

  Georg Wiedebach

  committed
  bbc0ed1

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• Clean up and document the state class. Also rename A to F.

  

  Georg Wiedebach

  committed
  e785dc6

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• Moved some helper methods to a tools class.

  

  Georg Wiedebach

  committed
  c8068dc

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• Cleaned up and documented the sensor interface.

  

  Georg Wiedebach

  committed
  d8e9ae4

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• Finally fix the test making sure the covariance converges to its expected steady state value in a simple example.

  

  Georg Wiedebach

  committed
  f76876b

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• Switched the filter to use the Joseph form of the covariance update.

  

  Georg Wiedebach

  committed
  d25f576

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Commits on Jul 3, 2018

• Small bugfix.

  

  Georg Wiedebach

  committed
  bc4b8b4

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• Added some timers and made sure to use the prior (after prediction) state when computing the correction instead of the last posterior state.

  

  Georg Wiedebach

  committed
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Commits on Jul 2, 2018

• Added a bias state to angular velocity sensor.

  

  Georg Wiedebach

  committed
  7bfae67

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• Add linearization of cross product in sensor jacobian.

  

  Georg Wiedebach

  committed
  b70222f

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• Parameterize more things.

  

  Georg Wiedebach

  committed
  f9b0073

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• Rework the linear acceleration sensor to use a non-linear residual calculation.

  

  Georg Wiedebach

  committed
  85f38d6

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• Step towards true EKF functionality: allow for the use non-linear measurements in the sensor interface.

  

  Georg Wiedebach

  committed
  9457cbf

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• Figured out how to linearize the cross product between angular and linear velocity. Need to use it in the LinearAccelerationSensor.

  

  Georg Wiedebach

  committed
  9edc22b

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• Parameterized some covariances.

  

  Georg Wiedebach

  committed
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