Estimators

Available Estimators

• Lowpass
• EKF
• Square Root EKF
• MHE

Configuration

Independant of the selected estimator, the following generic arguments must be provided in order to use any estimator Example estimator_config.yaml

type: "discrete_ekf|lowpass"
pub_rate: <double> # Hz
max_callback_rate: <double> # Max rate for which measurement callbacks are processed

# initial state
initial_state:
  type: "pacejka_car"
  value: [double, double, double, double, double, double]

sensors:
  sensor_names: ["vicon", "imu", "imu_yaw_rate", "wheel_encoders", "lighthouse"] 
  [vicon]:
   R: <Matrix> # 3x3
  [imu]:
   R: <Matrix> # 3x3
  [imu_yaw_rate]:
   R: <Matrix> # 1x1
  [wheel_encoders]:
   R: <Matrix> # 4x4
  [lighthouse]:
   R: <Matrix> # 4x4

<EKF Parameters | Lowpass Parameters>