Doppler radar + gyro integration changes #232
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…ewhere (like in wrapper).
…in a wrapper) yaml variables for pipeline.
… measurements for direct velocity errors
… setup. Implemented prior error from past trajectory/covariance for odometry.
… measurement factor (outdated with new gyro implementations).
…valuator. Useful when you want to rely entirely on a gyroscope or some other highly accurate source of orientation info. - Changed gyroscope error term to make use of all 3 degrees of info from gyro - (QoL) minor print statement improvements
(func) added gyroscope terms if qdata.gyro_msgs is populated (func) added removal of orientation estimation from ICP
(func) Changed optimization windows to directly overlap in pose. The last pose in a previous frame (corresponding to the max timestamp of the pointcloud) is now the first pose in the next frame. Prior is generated based on the estimate of the state at the final timestamp in the previous frame.
…as the first timestamp in new frame. This shared state now has a prior generated through marginalizing out previous first state. (QoL) Removed now-unnecessary trajectory passing between frames.
(bug) Updated state extrapolation to work from the prior state (first state in the window), as opposed to the previously saved state (middle of scan).
…nd radar-lidar (func) Added new prior support for radar-lidar pipeline
…-based sliding window prior for future windows.
…al pointcloud timestamp due to rounding error. Now explicitly adding the final pointcloud timestamp as the final knot_time.
…d new prior_bloat parameter
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Tested radar and lidar offline: