feat(ekf_lolcalizer): output variance for z, roll and pitch #8554
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Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
YamatoAndo
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Motsu-san,
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IshitaTakeshi
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TaikiYamada4
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Aug 21, 2024
SakodaShintaro
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Aug 22, 2024
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #8554 +/- ##
==========================================
- Coverage 23.99% 23.98% -0.02%
==========================================
Files 1384 1381 -3
Lines 102173 101500 -673
Branches 38939 38611 -328
==========================================
- Hits 24520 24344 -176
+ Misses 75092 74716 -376
+ Partials 2561 2440 -121
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Aug 27, 2024
…foundation#8554) publish covariance of z,roll.pitch Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
a-maumau
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Sep 2, 2024
…foundation#8554) publish covariance of z,roll.pitch Signed-off-by: Yamato Ando <yamato.ando@tier4.jp>
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Description
I modified ekf_localizer to output the variance for z, roll, and pitch.
Related links
Parent Issue:
How was this PR tested?
Lsim works.
And I have confirmed that the variances for z, roll, and pitch are being output from
/localization/pose_twist_fusion_filter/kinematic_stateand/localization/pose_twist_fusion_filter/biased_pose_with_covariance.Notes for reviewers
The variable
dev_inSimple1DFilteris being treated as variance, not standard deviation. After this PR, I plan to submit another PR to renamedev_tovar_.Interface changes
None.
Effects on system behavior
None.