Error state kalman filter #564
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…ses msg imu/data_raw and /orca/pose as the dvl info
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## main #564 +/- ##
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- Coverage 6.61% 5.89% -0.72%
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Files 37 42 +5
Lines 2117 2375 +258
Branches 50 52 +2
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Hits 140 140
- Misses 1977 2235 +258
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| for i in range(n): | ||
| for j in range(n // 2): |
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The indexing in the generate_T_matrix function appears to use negative indices (e.g., 'i - 1' when i is 0), which may lead to unintended behavior. Consider revising the loop indices to start at 1 or adjust the indexing logic accordingly.
| for i in range(n): | |
| for j in range(n // 2): | |
| for i in range(1, n + 1): | |
| for j in range(1, (n // 2) + 1): |
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| start_time = time.time() | ||
| estimated_state = ukf.unscented_transform(estimated_state) | ||
| print(estimated_state.as_vector()) | ||
| break |
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The break statement in the simulation loop terminates the loop prematurely, preventing the full simulation from executing. It is likely unintended and should be removed or repositioned to allow complete simulation execution.
| break |
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| void correct() { | ||
| Eigen::Matrix3d R_nb; | ||
| R_nb << 0, 0, -1, 0, -1, 0, -1, 0, 0; |
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maybe expose this rotation as ros params for when the dvl mount is altered
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There is still some issue here, but yes that is the goal
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Im still fighting for "Set the frame assumptions internally and correct on the outside" - I.e. use TF2 on the ros side.
The TLDR is: You will fuck up transforms when rolling it yourself, so better let TF handle it and just make sure to use it properly
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| // @brief Update the nominal state and error state | ||
| // @param dvl_meas: DVL measurement | ||
| // @return Updated nominal state and error state | ||
| std::pair<state_quat, state_euler> dvl_update( | ||
| const dvl_measurement& dvl_meas); |
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We talked about generalizing away specific sensors for any update methods - is that still a go?
I think it would be really nice to write the eskf as a library, and have the user provide the spec for whatever sensor they bring.
You could call it PO, but having seen how many kalman filters have been written over the years, it would be really clean to have this be the go-to solution for years to come 🙏
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yeah, its the end goal, just making it work properly for the thesis now, but will be the next step before merge :)
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