Full State Estimator

[iandareid]

We need to integrate the latest full state estimator from the UAV book. The steps are as follows

• Create ROS wrapper for current python MAVsim implementation
• Test wrapper.
• Once wrapper works, port python to C++
  • This will include finding analytical Jacobian
• Test ported code.

[iandareid]

To do this, we will implement another class that does EKFs generally. This will allow for minimum code duplication, and also allow someone to easily and quickly implement their new EKF. This would obviously not preclude using some other estimation scheme.

It will be something like this:

estimator_base <------ estimator_ekf <------ estimator_continuous_discrete *** ^------------------------ estimator_full

The estimator_ekf will have the general framework of an EKF for the child to override. This includes a measurement update, propagation of the model and publishing.

[iandareid]

The refactor of the ekf has made significant progress. The full estimator should be implemented soon.