Add ekf in imu frame, and the docstring - Githubissues

machines-in-motion / mim_estimation

This package contains estimation algorithm C++ implementation, their Python bindings and Python prototypes

BSD 3-Clause "New" or "Revised" License

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Add ekf in imu frame, and the docstring #13

Closed ShahramKhorshidi closed 3 years ago

ShahramKhorshidi commented 3 years ago

Extends the EKF class, so it can be defined in the Base or IMU frame on the robot.

The EKF in both base frame and imu frame is tested in simulation.

I fulfilled the following requirements

[x] All new code is formatted according to our style guide (for C++ run clang-format, for Python, run flake8 and fix all warnings).
[x] All new functions/classes are documented and existing documentation is updated according to changes.
[x] No commented code from testing/debugging is kept (unless there is a good reason to keep it).