Kalman Filtering

Been a while since my last post. I've been tinking away on some new C++ code. The old code that ran the GPS experiment is pretty primitive and very specfic. So in preperation for switching over to dead-reckoning I am trying to make some nice clean and fresh code. So far progress has been a bit slow because of the holidyas and a new role at work. However, I have made some nice data types that encapsulate the concept of a robot pose and a kalman float that encapsulates the concept of an associated sigma value and the kalman filtering process itself.

Once I get some fo these basic types I can turn my attention to the basic code flow of the robot: absorb data, compute plan, execute plan.