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pom-genom3 3.0 released

Added by Anthony Mallet 2 months ago

Changes

  • Switch to openrobots2-idl
  • Fix syntactic issues with older eigen
  • Display the covariance matrix diagonal when it becomes not positive definite
  • Allow non-integer history length (to make it less than one second)
  • Warn if computation is too slow (more than 110% of the period for 2 periods in a row)

Download

pom-genom3-3.0.tar.gz

pom-genom3 2.3 released

Added by Anthony Mallet over 1 year ago

Changes

  • Fix conversion from euler angles to quaternion in the 'replay' service * Abort processing of history after computing for longer than the period. This helps in keeping up the desired output rate when many old measurements are received. * Use aio(7) for logging and drop log entries when io requests are too slow * Add a 'decimation' parameter to the log_state function * Decouple the position and orientation measurements. This allows a measurement producer to provide only the translation part of a pose (e.g. GPS, ...) or the orientation part (e.g. compas). * Try to fix non positive definite covariance matrix in the state. Altough this does not happen in practice, it can still be triggered when receiving very wrong measurements. * Add README.adoc from latest genom skeleton

Download

pom-genom3-2.3.tar.gz

pom-genom3 2.1 released

Added by Anthony Mallet almost 3 years ago

Changes

  • Implement a realistic process noise, with in particular all cross correlations * Reject measurements older than the current history (2s by default). * Add 'replay' and 'log_measurement' services to record/replay raw measurements * Be robust to port disconnection when reading measurement data * Export covariance on velocity and acceleration

Download

pom-genom3-2.1.tar.gz

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