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Ekf slam cpp#27

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akhandelwal2025 wants to merge 61 commits intomaincarnegiemellonracing/driverless:mainfrom ekf-slam-cppcarnegiemellonracing/driverless:ekf-slam-cppCopy head branch name to clipboard

+1,275-79

Commits

Commits on Aug 2, 2023

• added planning_codebas folder and created a .cpp file for new_slam

  Rohanrr695

  committed
  2aaeef5

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Commits on Aug 5, 2023

• Translated more than half of new_slam.py

  Rohanrr695

  committed
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Commits on Aug 7, 2023

• Translated all necessary functions from new_slam.py but still needs to be tested

  Rohanrr695

  committed
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• started ros node. having trouble with some of the callback stuff

  akhandelwal2025

  committed
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• maybe fixed message filters

  andrewwchong

  committed
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• added build,install,log folders to .gitignore

  andrewwchong

  committed
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• removed build from root

  andrewwchong

  committed
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Commits on Aug 8, 2023

• ditcihng approx time sync. Assuming that topics running fast enough that most recent message from each topic is the right one

  akhandelwal2025

  committed
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Commits on Aug 9, 2023

• finishing up some of the ros things

  akhandelwal2025

  committed
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Commits on Aug 10, 2023

• finished ros nodes, running into some freeing errors with new_slam.cpp

  akhandelwal2025

  committed
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Commits on Aug 15, 2023

• still debugging

  akhandelwal2025

  committed
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Commits on Sep 11, 2023

• pushing

  akhandelwal2025

  committed
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Commits on Sep 20, 2023

• Fixed find min index function in new_slam.cpp & added ore print statements

  akhandelwal2025

  committed
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Commits on Oct 5, 2023

• slam translation

  yuvanshu

  committed
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Commits on Oct 7, 2023

• added jacob_motion, calc_landmark_position, and get_landmark_position_from_state functions

  yuvanshu

  committed
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Commits on Oct 9, 2023

• added calc_innovation, jacob_h, and pi_2_pi functions

  yuvanshu

  committed
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Commits on Oct 10, 2023

• added search_correspond_landmark_id function

  yuvanshu

  committed
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Commits on Oct 16, 2023

• finished translating new_slam_correct.cpp and integrating into ekf_slam.cpp

  yuvanshu

  committed
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• removing gsl library imports

  yuvanshu

  committed
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Commits on Oct 18, 2023

• debugging eigen lib import statement

  yuvanshu

  committed
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• fixing declaration of const variables

  yuvanshu

  committed
  20a686c

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• debugging name types of const variables

  yuvanshu

  committed
  0a08e0b

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• debugging namespace types

  yuvanshu

  committed
  1e7192e

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• trying to fix namespace types of variables again

  yuvanshu

  committed
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Commits on Oct 19, 2023

• fixing namespace error

  yuvanshu

  committed
  1c3b8d4

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• adding int main function

  yuvanshu

  committed
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• fixing deg2rad and const variable type errors

  yuvanshu

  committed
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• debugging missing semicolon errors

  yuvanshu

  committed
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Commits on Oct 22, 2023

• fixing semicolon errors and matrix inverse

  yuvanshu

  committed
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Commits on Oct 28, 2023

• fixing xEst and pEst for running slam

  yuvanshu

  committed
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• added src folder

  GeoffTheJetson

  committed
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• Merge branch 'ekf-slam-cpp' of github.com:carnegiemellonracing/driverless into ekf-slam-cpp

  GeoffTheJetson

  committed
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Commits on Nov 1, 2023

• fixing cmake bugs

  yuvanshu

  committed
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• Merge branch 'ekf-slam-cpp' of https://github.com/carnegiemellonracing/driverless into ekf-slam-cpp

  yuvanshu

  committed
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• it runs now

  GeoffTheJetson

  committed
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Commits on Nov 2, 2023

• just commented out alphas and it seems to actually print errors now

  GeoffTheJetson

  committed
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• no more runtime errors

  GeoffTheJetson

  committed
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• after 3 hours, still in the same place lmao

  GeoffTheJetson

  committed
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Commits on Nov 4, 2023

• docker+vscode changes

  GeoffTheJetson

  committed
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• realized that we didnt have to change from car frame to world frame. Reverting back to old version of code

  GeoffTheJetson

  committed
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Commits on Nov 5, 2023

• committing from dale to work on ankits computer

  GeoffTheJetson

  committed
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• resolved merge conflict

  GeoffTheJetson

  committed
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Commits on Nov 8, 2023

• I think euclidean is now working. Getting some weird error with a malloc? I need to figure this out but this seems promising

  akhandelwal2025

  committed
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Commits on Nov 12, 2023

• andrew here ya go

  akhandelwal2025

  committed
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Commits on Nov 13, 2023

• seems to work pretty well actually? confused but maybe shit just works sometimes

  akhandelwal2025

  committed
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• think it works with moving and everything?

  akhandelwal2025

  committed
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• LLETS FUCKING GO IT WORKS

  akhandelwal2025

  committed
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• resolving merge conflict

  akhandelwal2025

  committed
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• final version, this works

  akhandelwal2025

  committed
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Commits on Nov 29, 2023

• testing on simulator and rosbag data

  GeoffTheJetson

  committed
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Commits on Dec 11, 2023

• changing

  GeoffTheJetson

  committed
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Commits on Dec 15, 2023

• added transforms to be able to convert imu linear velocity from world to sensor. EKF sucks rn, will switch back to python-19a to test better with visualizations

  GeoffTheJetson

  committed
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Commits on Jan 8, 2024

• cleaned up ekf slam

  GeoffTheJetson

  committed
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Commits on Jan 11, 2024

• resolving merge of main into this branch

  GeoffTheJetson

  committed
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• added slam output in SLAMSimNode.cpp

  GeoffTheJetson

  committed
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• added a slash

  GeoffTheJetson

  committed
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• restructuring of ekf slam code

  GeoffTheJetson

  committed
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Commits on Jan 15, 2024

• everything builds now

  akhandelwal2025

  committed
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Commits on Jan 18, 2024

• changes

  GeoffTheJetson

  committed
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Commits on Jan 24, 2024

• stabilize sim nodes

  GeoffTheJetson

  committed
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Commits on Feb 9, 2024

• added spline frames

  andrewwchong

  committed
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