/Tricycle_PoseEstimation_CF

To estimate tricycle vehicle location based on sensor inputs

Primary LanguageHTMLMIT LicenseMIT

Tricycle_PoseEstimation_CF

Build Status Coverage Status

Overview

Pose Estimation of a Tricyce based on encoder and gyroscope values given

Approach

  1. Calculate the position and orientation using basic kinematics on Encoder Values
  2. Calculated the position and orientation using Gyroscope Measurement values
  3. Use Complimentary filter to get Tricycle pose .

TODO: Implement Kalman Filter for better prediction

Standard install via command-line

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

Building for code coverage

sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage

Dataset

Download the dataset from the below link https://drive.google.com/open?id=1nkhp7D-udMCWT1J8LSaGG7aqDpJc1tIY

##Dependancies No dependancies are needed to run the program