Feature/BaseEKF #24
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Feature/BaseEKF #24
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MichaelMarav
reviewed
Jan 9, 2025
| namespace serow { | ||
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| void BaseEKF::init(const BaseState& state, | ||
| double g, double imu_rate, bool outlier_detection) { |
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Maybe don't use "g" as input in order to have less input params. Either constant or to the json.
| const BaseState& state, Eigen::Vector3d angular_velocity); | ||
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| BaseState updateWithTwist(const BaseState& state, | ||
| const Eigen::Vector3d& base_linear_velocity, |
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