* improve LQT steering and speed control
* improve LQT steering and speed control
* improve LQT steering and speed control doc
* improve LQT steering and speed control doc
* improve LQT steering and speed control doc
* improve LQT steering and speed control doc
* Addition of velocity scale factor estimation to EKF
* Format
* Add a scale factor motion model in the Jacobian function description
* Fix Jacobian function description
* New script: 'ekf_with_velocity_correction.py'
* Add doc
* Fix doc
* Correct the parts where the first letter of the sentence is lowercase
* Fix doc title
* Fix script title
* Do grouping
* Fix wrong motion function in ekf doc
* Update docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization_main.rst
---------
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
There are small typos in:
- ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py
- ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py
- docs/modules/slam/FastSLAM1/FastSLAM1_main.rst
- docs/modules/slam/ekf_slam/ekf_slam_main.rst
Fixes:
- Should read `configuration` rather than `configuation`.
- Should read `trajectory` rather than `tracjectory`.
- Should read `prediction` rather than `prediciton`.
Signed-off-by: Tim Gates <tim.gates@iress.com>
* clean up clothoidal_paths.py
* add unit tests for clothoid_paths
* add unit tests for clothoid_paths
* add unit tests for clothoid_paths
* code clean up
* code clean up
* code clean up
* code clean up
* code clean up
* code clean up
* code clean up
* code clean up
* Add inverted_pendulum_lqr_control
* reorganize document of inverted pendulum control module
* Refactor inverted_pendulum_lqr_control.py
* Add doccument for inverted pendulum control
* Corrected inverted pedulum LQR control doccument
* Refactor inverted pendulum control by mpc and lqr
* Add unit test for inverted_pendulum_lqr_control.py
* Fix format to show contents properly
Lots of contents were not displayed correctly. I empty lines and :math: labels and fixed it.
* Rewrote one subscript as _{rho}
This is just a try to see if subscript renders properly.
* Added a gif animation for move to pose robot
* Added gif; Removed png
* Added the into
* Changed Param. Def. style to bold text
* Added algorithm logic and math
* Update docs/modules/control/move_to_a_pose_control/move_to_a_pose_control.rst
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
* Update docs/modules/control/move_to_a_pose_control/move_to_a_pose_control.rst
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
* Changed Eqs 1 and 2 color to black
* Added cross-reference labels for Equations 1 and 2
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
* Added speed limitation of the robot
* Removed leading underscores for global vars
* Added unit test for robot speed limitation
* Modified x/abs(x) to np.sign(x); fixed code style
* Removed 'random' from test func header comment
* Added Robot class for move to pose
* Revert
* Added Robot class for move to pose
* Added a type annotation for Robot class
* Fixed the annotaion comment
* Moved instance varaible outside of the Robot class
* Fixed code style Python 3.9 CI
* Removed whitespaces from the last line
* Applied PR #596 change requests
* Fixed typos
* Update Control/move_to_pose/move_to_pose_robot_class.py
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
* Moved PathFinderController class to move_to_pose
* Fixed issue #600
* Added update_command() to PathFinderController
* Removed trailing whitespaces
* Updated move to pose doc
* Added code and doc comments
* Updated unit test
* Removed trailing whitespaces
* Removed more trailing whitespaces
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* add contribution doc
* add contribution doc
* add contribution doc
* add contribution doc
* add contribution doc
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* clean up SLAM docs
* Modify notations
I modified some of the notations so that it will be less confusing:
- It is better to specify of which the Jacobian matrix is, here it is the transition and measurement function `f` and `g` (writing it as `J_F` and `J_H` is misleading)
- It is better to use `Delta` so as not to confuse people with the `d` commonly used in derivative
- It is more correct to use `\partial` instead of `d` since it is more multivariate than it is not
* Update docs/modules/extended_kalman_filter_localization.rst
* Update docs/modules/extended_kalman_filter_localization.rst
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
