Estimators

The estimator module group is implemented in agilib/src/estimator. There are different types of estimator, depending on the information they use:

• ekf: An EKF propagated with a constant acceleration model and updated with 6-DoF pose and IMU measurements.

• ekf_imu: An EKF propagated with IMU measurements and updated with 6-DoF pose measurements.

• feedthrough: The estimation is provided completely from an external estimator.

• mock_vio: A mock estimator that corrupts a ground-truth estimates with noise and bias to simulate real-world properties.