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DAIRLab / dairlib

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Add an input port in EKF to store lcm time #187

Closed yminchen closed 4 years ago

yminchen commented 4 years ago

This PR fixes issue #63

Instead of implementing the two solutions from Drake developers, I implemented a simpler approach here. I added an input port to EKF to store the message time. The port is updated after a new message arrives and before the simulation is advanced.

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mposa commented 4 years ago

My opinion on this hasn't really changed since our earlier discussion. This feels very wrong to me, since you're duplicating the notion of "time" which is already stored within the Context. The only problem with the current implementation is the ordering of how the update/step functions are called.

My preference would be option 1 from the suggested choices. I'm happy to write a rough framework for it tonight, but it'd probably be best if you were to test/finish the PR, since you better understand the EKF code.

yminchen commented 4 years ago

Closing this PR, since we will probably use #188