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cwrucutter / snowmower_localization

An EFK for the snowmower.
MIT License
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Consolidate K*(), stateUpdate*(), and covUpdate*() by making parameters and return variable sized. #42

Open kleinma opened 8 years ago

kleinma commented 8 years ago

* in title can be replaced by DecaWave, IMU, and Enc, for example stateUpdateDecaWave() as seen here.

Right now there is a different function for each sensor. They differ only by the size of the matrices being passed as parameters and and the matrices that are returned. Otherwise, the body of the functions are the same. By following these instructions under the section titled In which cases do functions taking plain Matrix or Array arguments work?, each of these functions can be made generic enough to work with any sized measurement vector.