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Paul Riseborough
0d0f46ec1c
This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
ECL
Very lightweight Estimation & Control Library.
This library solves the estimation & control problems of a number of robots and drones. It accepts GPS, vision and inertial sensor inputs. It is extremely lightweight and efficient and yet has the rugged field-proven performance.
The library is BSD 3-clause licensed.
EKF Documentation
Building EKF
Prerequisites:
- Matrix: A lightweight, BSD-licensed matrix math library: https://github.com/px4/matrix - it is automatically included as submodule.
By following the steps mentioned below you can create a shared library which can be included in projects using -l flag of gcc:
mkdir build/
cd build/
cmake ..
make
Alternatively, just run:
./build.sh
Testing ECL
By following the steps you can run the in test/ specified checks
make test // run from main folder