Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
Use of air data to navigate should be classified as dead-reckoning because neither ground relative velocity or position is observed directly and errors grow faster.
* Unfortunately, due to the SWIG dependency, we need sudo to install on
Travis (conflicts when adding with debian-sid source prevent using addons)
which means we cannot use the container-based infrastructure anymore.
* Building the Python bindings requires g++5 (at least with -Werr set).
* When building the Python bindings on Travis, the numpy includes are not found
by cmake, so they have to be added separately by running a Python process with
`numpy.get_include()`
* The build script now (somewhat clumsily) depends on the RUN_PYTEST environment
variable. If it is set to anything other than "", it will make the tests and
run tests and benchmarks
* Add requirements.txt file with required Python packages
* Read requirements.txt from CMakeLists.txt to check dependencies and alert the
user if necessary.
* Add SWIG interface definition (and external numpy interface) to ecl classes
* Add section in CMakeLists.txt to build Python bindings and execute
Python-based tests
* Write (property-based) tests that show the basic functionality of the Python
bindings and the EKF (using pytest and hypothesis libraries)
* Write minimal benchmark for the EKF update (using benchmark plugin for pytest)
* Add plotting utilities to analyze tests
* Add lint script to keep the Python scripts clean
* This is a sane choice (and should arguably always be done for classes with
virtual methods to avoid undefined behavior)
* It is required for wrapping the EstimatorInterface with SWIG (without virtual
destructor, deriving from the EstimatorInterface leads to
-Werror=delete-non-virtual-dtor).
ChristophTobler
Paul Riseborough
CarlOlsson
Daniel Agar
Peter Dürr