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Support vision velocity expressed in body frame too (#708)

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* Support vision velocity expressed in body frame

* Use switch statement for vision velocity frame

* Robustify vision velocity frame test

* Increase lower bound on vision velocity noise to 0.05 m/s
This commit is contained in:
kritz
2020-05-12 16:03:35 +02:00
committed by GitHub
parent c3de452e8e
commit 98801ad17b
8 changed files with 170 additions and 37 deletions
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test/sensor_simulator/vio.h
+3
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@@ -52,11 +52,14 @@ public:
void setData(const extVisionSample& vio_data);
void setVelocityVariance(const Vector3f& velVar);
void setVelocityCovariance(const Matrix3f& velCov);
void setPositionVariance(const Vector3f& posVar);
void setAngularVariance(float angVar);
void setVelocity(const Vector3f& vel);
void setPosition(const Vector3f& pos);
void setOrientation(const Quatf& quat);
void setVelocityFrameToLocal();
void setVelocityFrameToBody();
extVisionSample dataAtRest();