Three-robot version of the VINS-based EKF #30
+583
−103
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This is quite similar to the previous PR, but is a bit more complicated as I now consider the 3-robot experiments, which means I have to add the tag-to-tag measurements. You will notice that there is a lot of overlap between the 1-robot EKF and the 3-robot EKF, but this is on purpose to reduce abstracting things and confusing users.
Also, I moved what previous was a
StateHistory
class to have two generalMatrixStateHistory
andVectorStateHistory
classes, and each EKF now has its own implementation of theEvaluateEKF
class to further reduce abstractions.