After some hard work, I got the wrong answer

[cacacadaxia]

I'm glad to see your sharing. After I wrote the main function call myself, when I ran with the dataset, I found that the result was totally wrong (compared with Python's result). Is this finished product, or is it partially incomplete? I was confused.

Finally, the output state is found as follows.

another question ,I've noticed your approach to Kalman time DT, which I'm confused about.

Anyway, thank you a lot！

[bill4u]

hi, would you mind to share your work?

[bill4u]

And this is my result, it seems that the car just drives directly, no turns, no drive back.

[wangzhankun]

Hello, may you share the main code? I have no idea to use the repo.