Code

Unscented Kalman filter (UKF)#1393

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fspindle merged 61 commits intolagadic:masterlagadic/visp:masterfrom rolalaro:feat_unscented_kalmanrolalaro/visp:feat_unscented_kalmanCopy head branch name to clipboardMay 21, 2024

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Commits

Commits on Apr 15, 2024

• [WIP] Added first draft of headers for the UKF and the Sigma Points drawer

  

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Commits on Apr 17, 2024

• Merge branch 'master' into feat_unscented_kalman

  

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• [CORPS] Changed vpMatrix for vector<vpColVector> which makes more sense + began skeletton of the SigmaDrawers classes

  

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Commits on Apr 18, 2024

• [CORPS] First draft of the Merwe's algo

  

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Commits on Apr 22, 2024

• Merge branch 'master' into feat_unscented_kalman

  

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• [CORE] Added Cholesky's decomposition by Eigen, same by Lapack (and OpenCV ?) are yet to be done

  

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• [CORE] First draft of the UKF, still missing some parts

  

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• [CORE] Use cholesky method to compute the square root of the (lambda + n)*cov matrix

  

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• [CORE] Added Lapack Cholesky's decomposition

  

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• [CORE] Removed OpenCV from the possible 3rd parties for Cholesky's decomposition as it is now avaible from the API

  

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Commits on Apr 23, 2024

• [FIX] Fixes undefined symbols

  

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• [FIX] Fixed Cholesky's decomposition by Lapack

  

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• [TEST] Added a criterion to make the test succeed

  

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• [FIX] Fixed some mistakes in the UKF, such as the computation of the sigma points and the unscented transform of m_Y

  

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• [TUTO] Added a tutorial on how one can use the UKF for a linear case

  

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• [TUTO] Added some comments to the linear example UKF tutorial

  

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• [TUTO] The linear case example is now 2D

  

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• [TUTO] Added a non-linear example for the UKF

  

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Commits on Apr 24, 2024

• Merge branch 'master' into feat_unscented_kalman

  

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• [CORE] Added add, mean and residualfunctions for cases where simple operation cannot be used

  

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• [CORE] typedef vpAddSubFunction as both are required and have the same signature [TUTO] Added a more complex example of non-linear case

  

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• [TUTO] Complexified the trajectory of the robot

  

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Commits on Apr 25, 2024

• [TUTO] Fixed the commands sent to the simulated robot

  

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• [TUTO][DOC] Improvement of the documentation of the tutorials/examples

  

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• [TUTO][FIX] Fixed missing protection around vpPlot, causing compilation error

  

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• [FIX] Protected everything related to UKF by a check of C++ standard that is used

  

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Commits on Apr 29, 2024

• [FIX] Fix vpUKSgimaDrawerMerwe when using c++98

  

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• [DOC] Added equations in the documentation of the vpUnscentedKalman class

  

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• [DOC] Added the equations of vpUKSigmaDrawerMerwe

  

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• Fix python bindings generator to support lambda function arguments and add a config flag to force dependency link between header files

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Commits on Apr 30, 2024

• [EXAMPLE] Move the content of tutorial/kalman into example/kalman [TUTO] Created a new tutorial for the UKF

  

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• [CLEAN] Removed debug log

  

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• [DOC] Corrected typos

  

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• [CLEAN] Cleaned indentation

  

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• [CLEAN] Corrected Copyright dates

  

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• [FIX] Fixed missing #include<memory> to enable std::shared_ptr

  

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• [EXAMPLE] Changed the sampling period and displacements to be closer to a robotic application

  

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• [EXAMPLE] Fine-tuned the Kalman of the linear example

  

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Commits on May 2, 2024

• [CLEAN] Clean indentation problems

  

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• Added missing copyrights

  

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• [TUTO][DOC] Added a .dox file to explain the tutorial

  

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• [TUTO][DOC] Completing the documentation of the tutorial

  

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• [TUTO] Changed motion in the XZ plane into motion in the XY plane [TUTO][DOC] Updated the documentation and images accordingly

  

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• [TUTO][DOC] Continuing the doc of the tutorial

  

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Commits on May 5, 2024

• Introduce std::shared_ptr as default type holder for python bindings

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Commits on May 6, 2024

• [DOC] Added reference to Merwe's article [TUTO][DOC] Finished the c++ tutorial for vpUnscentedKalman

  

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• [TEST] Use catch2 instead of plain old-school fashion c++ test

  

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• [TUTO][DOC] Improved schematic of the use case + added internal links in the document

  

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• [CORE] OpenCV can be used for Choleski's decomposition

  

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• [EXAMPLE] Renamed examples

  

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• [EXAMPLE][PYTHON] Added a Python example of the linear use-case

  

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Commits on May 7, 2024

• [EXAMPLE] Improved simple non-linear example

  

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Commits on May 13, 2024

• [DOC] Added documentation in the vpUKSigmaDrawerMerwe class

  

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• [EXAMPLE] Renamed a misnamed variable

  

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• [PYTHON][EXAMPLE] Added a Python example of the nonlinear 'simple' case

  

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• [MERGE] Fixed merge conflict in doc/tutorial-users.dox

  

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• [TUTO][FIX] Fix missing protection around vpDisplay

  

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Commits on May 19, 2024

• Fix to introduce a virtual destructor when the class has virtual functions (warning on macos)

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• Remove \mathcal that is not supported by mathjax + code indentation

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Commits on May 20, 2024

• Attempt to fix the following issue on ci.

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• Set GIT_CLONE_PROTECTION_ACTIVE env var

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