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WaterlooRobotics / mobilerobotics

Matlab and Robot code for MTE 544: Autonomous Mobile Robotics at the University of Waterloo
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I7 ekf #59

Closed ajaysinghchhonker closed 7 years ago

ajaysinghchhonker commented 8 years ago

modular breakdown of code. Created EKF function which takes motion & sensor models along with the corresponding linearized model. Created motion & sensor model for a 3 wheeled omnibot. An example "EKF_omnibot_example.m" is created for visualization of the work.

majcote commented 8 years ago

LGTM!

RobWks commented 8 years ago

I just had to rename that one function where I added the note and it worked for me. The video is a really nice touch, I wonder if there is a way to get the title and axis in the movie? I know you were trying to keep it modular, but I think some of the functions could simply be brought into the EKF function. For instance function 'y' just seems to be doing a transpose?

ajaysinghchhonker commented 8 years ago

Optimized EKF No. of argument to EKF function reduced. EKF function made more generic. Axis and legend added in video.