Currently, both IMUFilter and OdometryFilter share a lot of common code since they are effectively doing the same thing but with different system dynamics (Linear EKF). Would make sense to refactor them such that they share a single base class, LinearFilter, and only override their system construction sections and any unique functionality.
Currently, both IMUFilter and OdometryFilter share a lot of common code since they are effectively doing the same thing but with different system dynamics (Linear EKF). Would make sense to refactor them such that they share a single base class, LinearFilter, and only override their system construction sections and any unique functionality.