expose Kalman tunable parameters

thomas-haslwanter / scikit-kinematics

Python functions for working with 3D kinematics.

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expose Kalman tunable parameters #30

Closed lembit1 closed 5 years ago

lembit1 commented 5 years ago

Yun and Bachman used a legacy sensor combination for their paper, and gave appropriate empirical values for process noise variance D, gyro noise variance r_angvel and quaternion noise variance r_quats. The kalman() implementation hard-codes these parameters, as well as the arm movement time constant tau. Please make these tuning parameters more easily accessible: bring these up into the function call.

thomas-haslwanter commented 5 years ago

Good suggestion, implemented in the next release.