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c7e225124c
Replace the delayed time feedback mechanism used by the translational states with a direct feedback method. Time constants for velocity and position convergence can be separately adjusted with tunable parameters The method is more computationally more expensive because it requires modification of the output buffer history but is acceptable because it only requires 6 FLOP per buffer index for a total of 30*6 = 180 FLOP The method was not applied to the attitude states because the quaternion operations required at each buffer index would have been computationally prohibitive.
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 currently BSD licensed, but might move to Apache 2.0.
Building EKF Library
Prerequisites:
- Eigen3: http://eigen.tuxfamily.org/index.php installed
Ubuntu:
sudo apt-get install libeigen3-dev
Mac
brew install eigen
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 ../EKF
make
Alternatively, just run:
./build.sh