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getting closer. I had one minus sign off in the updateBiasing and it was throwing off everything.
562ed5dView on GitHubIMM-CT gains set for the first time. Seemed like it was okay. Time to plot the statistics to see if it was correct
88762d7View on GitHubEverything has compiled for the full IMM with polar measurements and debiasing. Have not tested yet.
cf92074View on GitHubRHO->RHO_INDEX and THETA->THETA_INDEX, as specified in the GenDefs.h
37ddddeView on GitHubi just went through an entire initialization and cycling of the IMM process as it gets data from filter_topic. I noticed I had made a lot of errors and just by rubber-duckying my way through it I think I weeded out a lot of possible causes for error. I haven't tried compiling yet, just being safe
b1d8079View on GitHubsimulate works pretty nicely now. plotting data with Rviz and everything
55d86d3View on GitHubworking on improving simulate node to offer polar and cartesian measurements
e444134View on GitHub