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Ekf slam cpp #27

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Ekf slam cpp #27

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akhandelwal2025
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Addresses Issue #__ ([issue name])

Description

Explain any proposed changes here.

Check-list

  • Integration tests pass
  • Code Documented (and Confluence documentation updated)
  • Reviewer 1 approved

Rohanrr695 and others added 30 commits August 2, 2023 13:53
@Rohanrr695
added planning_codebas folder and created a .cpp file for new_slam
2aaeef5
@Rohanrr695
Translated more than half of new_slam.py
7c550ec
@Rohanrr695
Translated all necessary functions from new_slam.py but still needs t…
ba76e37 
…o be tested
@akhandelwal2025
started ros node. having trouble with some of the callback stuff
0f28a4e
@andrewwchong
maybe fixed message filters
b71fcd5
@andrewwchong
added build,install,log folders to .gitignore
c247c80
@andrewwchong
removed build from root
f4e651e
@akhandelwal2025
ditcihng approx time sync. Assuming that topics running fast enough t…
9892fc5 
…hat most recent message from each topic is the right one
@akhandelwal2025
finishing up some of the ros things
d50ef9d
@akhandelwal2025
finished ros nodes, running into some freeing errors with new_slam.cpp
20550c6
@akhandelwal2025
still debugging
d594344
@akhandelwal2025
pushing
b65d3b4
@akhandelwal2025
Fixed find min index function in new_slam.cpp & added ore print state…
f905e55 
…ments
@yuvanshu
slam translation
ec8c300
@yuvanshu
added jacob_motion, calc_landmark_position, and get_landmark_position…
d9c5158 
…_from_state functions
@yuvanshu
added calc_innovation, jacob_h, and pi_2_pi functions
e1fd2d4
@yuvanshu
added search_correspond_landmark_id function
94fa72a
@yuvanshu
finished translating new_slam_correct.cpp and integrating into ekf_sl…
bb4456f 
…am.cpp
@yuvanshu
removing gsl library imports
8bebce4
@yuvanshu
debugging eigen lib import statement
dd9ffd9
@yuvanshu
fixing declaration of const variables
20a686c
@yuvanshu
debugging name types of const variables
0a08e0b
@yuvanshu
debugging namespace types
1e7192e
@yuvanshu
trying to fix namespace types of variables again
39f8151
@yuvanshu
fixing namespace error
1c3b8d4
@yuvanshu
adding int main function
50ed4f4
@yuvanshu
fixing deg2rad and const variable type errors
04a3f65
@yuvanshu
debugging missing semicolon errors
e86114b
@yuvanshu
fixing semicolon errors and matrix inverse
1ba4fe4
@yuvanshu
fixing xEst and pEst for running slam
2c16c76
GeoffTheJetson and others added 30 commits October 28, 2023 14:09
@GeoffTheJetson
Merge branch 'ekf-slam-cpp' of github.com:carnegiemellonracing/driver…
75cb559 
…less into ekf-slam-cpp
@yuvanshu
fixing cmake bugs
14b42e3
@yuvanshu
Merge branch 'ekf-slam-cpp' of https://github.com/carnegiemellonracin…
ed669b4 
…g/driverless into ekf-slam-cpp
@GeoffTheJetson
it runs now
beb4972
@GeoffTheJetson
just commented out alphas and it seems to actually print errors now
52657cb
@GeoffTheJetson
no more runtime errors
1ffe6f3
@GeoffTheJetson
after 3 hours, still in the same place lmao
81cc49e
@GeoffTheJetson
docker+vscode changes
f067d81
@GeoffTheJetson
realized that we didnt have to change from car frame to world frame. …
c326636 
…Reverting back to old version of code
@GeoffTheJetson
committing from dale to work on ankits computer
764f68b
@GeoffTheJetson
resolved merge conflict
2b1538f
@akhandelwal2025
I think euclidean is now working. Getting some weird error with a mal…
a15066e 
…loc? I need to figure this out but this seems promising
@akhandelwal2025
andrew here ya go
bb45b52
@akhandelwal2025
seems to work pretty well actually? confused but maybe shit just work…
dc68d39 
…s sometimes
@akhandelwal2025
think it works with moving and everything?
efc44f5
@akhandelwal2025
LLETS FUCKING GO IT WORKS
830d9ce
@akhandelwal2025
resolving merge conflict
bd9a08e
@akhandelwal2025
final version, this works
a1aaa0e
@GeoffTheJetson
testing on simulator and rosbag data
2cfdd37
@GeoffTheJetson
changing
9252e63
@GeoffTheJetson
added transforms to be able to convert imu linear velocity from world…
77d2a69 
… to sensor. EKF sucks rn, will switch back to python-19a to test better with visualizations
@GeoffTheJetson
cleaned up ekf slam
80da5ac
@GeoffTheJetson
resolving merge of main into this branch
6ec912a
@GeoffTheJetson
added slam output in SLAMSimNode.cpp
a47e572
@GeoffTheJetson
added a slash
82430b0
@GeoffTheJetson
restructuring of ekf slam code
5b779e8
@akhandelwal2025
everything builds now
36a6edf
@GeoffTheJetson
changes
1a51aa9
@GeoffTheJetson
stabilize sim nodes
7622641
@andrewwchong
added spline frames
b44ba1b
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5 participants
@akhandelwal2025 @Rohanrr695 @andrewwchong @yuvanshu @GeoffTheJetson