Restructure the EKF examples

decargroup · Nov 10, 2024 · 006dc4e · 006dc4e
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Showing 12 changed files with 23 additions and 30 deletions.
diff --git a/assets/vins/one_robot.ipe → assets/one_robot.ipe b/assets/vins/one_robot.ipe → assets/one_robot.ipe
diff --git a/assets/vins/one_robot.png → assets/one_robot.png b/assets/vins/one_robot.png → assets/one_robot.png
diff --git a/assets/vins/three_robots.ipe → assets/three_robots.ipe b/assets/vins/three_robots.ipe → assets/three_robots.ipe
diff --git a/assets/vins/three_robots.png → assets/three_robots.png b/assets/vins/three_robots.png → assets/three_robots.png
diff --git a/docs/examples/ekf_se3/index.md → docs/examples/ekf/index.md b/docs/examples/ekf_se3/index.md → docs/examples/ekf/index.md
@@ -1,5 +1,5 @@
 ---
-title: EKF - $SE(3)$
+title: Extended Kalman Filter
 parent: Examples
 nav_order: 4
 ---

diff --git a/docs/examples/ekf/se23_one_robot.md b/docs/examples/ekf/se23_one_robot.md
@@ -0,0 +1,8 @@
+---
+title: $SE_2(3)$ IMU - 1 robot
+parent: Extended Kalman Filter
+usemathjax: true
+nav_order: 3
+---
+
+![The setup for the one-robot IMU EKF](https://decargroup.github.io/miluv/assets/one_robot.png)
diff --git a/docs/examples/ekf/se23_three_robot.md b/docs/examples/ekf/se23_three_robot.md
@@ -0,0 +1,8 @@
+---
+title: $SE_2(3)$ IMU - 3 robots
+parent: Extended Kalman Filter
+usemathjax: true
+nav_order: 4
+---
+
+![The setup for the three-robot IMU EKF](https://decargroup.github.io/miluv/assets/three_robots.png)
diff --git a/docs/examples/ekf_se3/one_robot.md → docs/examples/ekf/se3_one_robot.md b/docs/examples/ekf_se3/one_robot.md → docs/examples/ekf/se3_one_robot.md
@@ -1,6 +1,6 @@
 ---
-title: One robot
-parent: EKF - $SE(3)$
+title: $SE(3)$ VINS - 1 robot
+parent: Extended Kalman Filter
 usemathjax: true
 nav_order: 1
 ---
@@ -9,7 +9,7 @@ nav_order: 1
 
 ## Overview
 
-![The setup for the one-robot VINS EKF](https://decargroup.github.io/miluv/assets/vins/one_robot.png)
+![The setup for the one-robot VINS EKF](https://decargroup.github.io/miluv/assets/one_robot.png)
 
 This example shows he we can use MILUV to test out an Extended Kalman Filter (EKF) for a single robot using Visual-Inertial Navigation System (VINS) data. In this example, we will use the following data:
 

diff --git a/docs/examples/ekf_se3/three_robot.md → docs/examples/ekf/se3_three_robot.md b/docs/examples/ekf_se3/three_robot.md → docs/examples/ekf/se3_three_robot.md
@@ -1,6 +1,6 @@
 ---
-title: Three robots
-parent: EKF - $SE(3)$
+title: $SE(3)$ VINS - 3 robots
+parent: Extended Kalman Filter
 usemathjax: true
 nav_order: 2
 ---
@@ -9,7 +9,7 @@ nav_order: 2
 
 ## Overview
 
-![The setup for the three-robot VINS EKF](https://decargroup.github.io/miluv/assets/vins/three_robots.png)
+![The setup for the three-robot VINS EKF](https://decargroup.github.io/miluv/assets/three_robots.png)
 
 This example shows he we can use MILUV to test out an Extended Kalman Filter (EKF) for three robots using Visual-Inertial Navigation System (VINS) data. This example builds off the [one-robot VINS EKF example](https://decargroup.github.io/miluv/examples/ekf_se3/one_robot.html) and extends it to three robots. The setup is similar to the one-robot example, but now we have three robots: ifo001, ifo002, and ifo003. We have the same sensors as the one-robot example, but now we have inter-robot UWB range data.
 

diff --git a/docs/examples/ekf_se23/index.md b/docs/examples/ekf_se23/index.md
diff --git a/docs/examples/ekf_se23/one_robot.md b/docs/examples/ekf_se23/one_robot.md
diff --git a/docs/examples/ekf_se23/three_robot.md b/docs/examples/ekf_se23/three_robot.md