From 84bd8efbbbf828afdc15a2e2e31f21906629550c Mon Sep 17 00:00:00 2001 From: chris7462 Date: Mon, 26 Aug 2024 22:01:55 -0400 Subject: [PATCH 1/2] Fix some typos --- examples/se2_localization.cpp | 2 +- examples/se2_localization.py | 2 +- examples/se2_localization_ukfm.cpp | 2 +- examples/se3_localization.cpp | 2 +- examples/se3_localization.py | 2 +- examples/se3_localization_iekf.cpp | 2 +- 6 files changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/se2_localization.cpp b/examples/se2_localization.cpp index 4956e68a..a314d6cd 100644 --- a/examples/se2_localization.cpp +++ b/examples/se2_localization.cpp @@ -86,7 +86,7 @@ * * The motion and measurement models are * - * X_(t+1) = f(X_t, u) = X_t * Exp ( w ) // motion equation + * X_(t+1) = f(X_t, u) = X_t * Exp ( u ) // motion equation * y_k = h(X, b_k) = X^-1 * b_k // measurement equation * * The algorithm below comprises first a simulator to diff --git a/examples/se2_localization.py b/examples/se2_localization.py index 7332bc92..66a45516 100644 --- a/examples/se2_localization.py +++ b/examples/se2_localization.py @@ -86,7 +86,7 @@ The motion and measurement models are - X_(t+1) = f(X_t, u) = X_t * Exp ( w ) // motion equation + X_(t+1) = f(X_t, u) = X_t * Exp ( u ) // motion equation y_k = h(X, b_k) = X^-1 * b_k // measurement equation The algorithm below comprises first a simulator to diff --git a/examples/se2_localization_ukfm.cpp b/examples/se2_localization_ukfm.cpp index 87d856f9..f0ac1b57 100644 --- a/examples/se2_localization_ukfm.cpp +++ b/examples/se2_localization_ukfm.cpp @@ -90,7 +90,7 @@ * * The motion and measurement models are * - * X_(t+1) = f(X_t, u) = X_t * Exp ( w ) // motion equation + * X_(t+1) = f(X_t, u) = X_t * Exp ( u ) // motion equation * y_k = h(X, b_k) = X^-1 * b_k // measurement equation * * The algorithm below comprises first a simulator to diff --git a/examples/se3_localization.cpp b/examples/se3_localization.cpp index 13314172..7443bd25 100644 --- a/examples/se3_localization.cpp +++ b/examples/se3_localization.cpp @@ -86,7 +86,7 @@ * * The motion and measurement models are * - * X_(t+1) = f(X_t, u) = X_t * Exp ( w ) // motion equation + * X_(t+1) = f(X_t, u) = X_t * Exp ( u ) // motion equation * y_k = h(X, b_k) = X^-1 * b_k // measurement equation * * The algorithm below comprises first a simulator to diff --git a/examples/se3_localization.py b/examples/se3_localization.py index c70d6513..c401c6e8 100644 --- a/examples/se3_localization.py +++ b/examples/se3_localization.py @@ -85,7 +85,7 @@ The motion and measurement models are - X_(t+1) = f(X_t, u) = X_t * Exp ( w ) // motion equation + X_(t+1) = f(X_t, u) = X_t * Exp ( u ) // motion equation y_k = h(X, b_k) = X^-1 * b_k // measurement equation The algorithm below comprises first a simulator to diff --git a/examples/se3_localization_iekf.cpp b/examples/se3_localization_iekf.cpp index 73a01958..681ef282 100644 --- a/examples/se3_localization_iekf.cpp +++ b/examples/se3_localization_iekf.cpp @@ -86,7 +86,7 @@ * * The motion and measurement models are * - * X_(t+1) = f(X_t, u) = X_t * Exp ( w ) // motion equation + * X_(t+1) = f(X_t, u) = X_t * Exp ( u ) // motion equation * y_k = h(X, b_k) = X^-1 * b_k // measurement equation * * The algorithm below comprises first a simulator to From c9135a2248a3f7589bad807deda062c6d2c32ebe Mon Sep 17 00:00:00 2001 From: chris7462 Date: Tue, 27 Aug 2024 11:20:56 -0400 Subject: [PATCH 2/2] missing dt in the SO3 rotation --- examples/se_2_3_localization.cpp | 2 +- examples/se_2_3_localization.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/se_2_3_localization.cpp b/examples/se_2_3_localization.cpp index d8a2699b..f37a7ef3 100644 --- a/examples/se_2_3_localization.cpp +++ b/examples/se_2_3_localization.cpp @@ -60,7 +60,7 @@ * * The kinematic equations (1) can be written as, * p <-- p + v dt + 0.5 a dt^2 - * R <-- R Exp_SO3(omega_b) + * R <-- R Exp_SO3(omega_b dt) * v <-- v + a dt * * However, we would like to express the kinematics equations in the form, diff --git a/examples/se_2_3_localization.py b/examples/se_2_3_localization.py index 791f76ec..61d0a1ed 100644 --- a/examples/se_2_3_localization.py +++ b/examples/se_2_3_localization.py @@ -61,7 +61,7 @@ The kinematic equations (1) can be written as, p <-- p + v dt + 0.5 a dt^2 - R <-- R Exp_SO3(omega_b) + R <-- R Exp_SO3(omega_b dt) v <-- v + a dt However, we would like to express the kinematics equations in the form,