Commit 6b4aa96e authored by Ryan Pavlik's avatar Ryan Pavlik

Add yaw state to psmv fusion

parent 8576fd5e
Pipeline #78031 passed with stages
in 5 minutes and 59 seconds
......@@ -45,6 +45,10 @@ namespace {
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
PSMVFusion()
{
yawProcess.setNoiseAutocorrelation(0.001); //! @todo
}
void
clear_position_tracked_flag() override;
......@@ -75,6 +79,11 @@ namespace {
State filter_state;
ProcessModel process_model;
flexkalman::PureVectorState<1> yaw{
Eigen::Matrix<double, 1, 1>::Constant(0),
Eigen::Matrix<double, 1, 1>::Constant(1.e-4)};
flexkalman::ConstantProcess<flexkalman::PureVectorState<1>>
yawProcess{};
xrt_fusion::SimpleIMUFusion imu;
......@@ -244,4 +253,4 @@ PSMVFusionInterface::create()
auto ret = std::make_unique<PSMVFusion>();
return ret;
}
} // namespace xrt_fusion
\ No newline at end of file
} // namespace xrt_fusion
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