Pose Estimation of a Tricyce based on encoder and gyroscope values given
- Calculate the position and orientation using basic kinematics on Encoder Values
- Calculated the position and orientation using Gyroscope Measurement values
- Use Complimentary filter to get Tricycle pose .
TODO: Implement Kalman Filter for better prediction
unzip Bhargav_TriCycle_CF.zip
cd <path to repository>
vim app/main.cpp
change path
variable to load the datasets
mkdir build
cd build
cmake ..
make
## To run the output and tests
Run tests: ./test/cpp-test
Run program: ./app/shell-app
sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage
Download the dataset from the below link https://drive.google.com/open?id=1nkhp7D-udMCWT1J8LSaGG7aqDpJc1tIY
##Dependancies No dependancies are needed to run the program