From 006dc4e7b78da439f789e700ebd16b00cf323f67 Mon Sep 17 00:00:00 2001 From: "Mohammed A. Shalaby" Date: Sun, 10 Nov 2024 12:02:49 -0500 Subject: [PATCH] Restructure the EKF examples --- assets/{vins => }/one_robot.ipe | 0 assets/{vins => }/one_robot.png | Bin assets/{vins => }/three_robots.ipe | 0 assets/{vins => }/three_robots.png | Bin docs/examples/{ekf_se3 => ekf}/index.md | 2 +- docs/examples/ekf/se23_one_robot.md | 8 ++++++++ docs/examples/ekf/se23_three_robot.md | 8 ++++++++ .../{ekf_se3/one_robot.md => ekf/se3_one_robot.md} | 6 +++--- .../three_robot.md => ekf/se3_three_robot.md} | 6 +++--- docs/examples/ekf_se23/index.md | 11 ----------- docs/examples/ekf_se23/one_robot.md | 6 ------ docs/examples/ekf_se23/three_robot.md | 6 ------ 12 files changed, 23 insertions(+), 30 deletions(-) rename assets/{vins => }/one_robot.ipe (100%) rename assets/{vins => }/one_robot.png (100%) rename assets/{vins => }/three_robots.ipe (100%) rename assets/{vins => }/three_robots.png (100%) rename docs/examples/{ekf_se3 => ekf}/index.md (85%) create mode 100644 docs/examples/ekf/se23_one_robot.md create mode 100644 docs/examples/ekf/se23_three_robot.md rename docs/examples/{ekf_se3/one_robot.md => ekf/se3_one_robot.md} (99%) rename docs/examples/{ekf_se3/three_robot.md => ekf/se3_three_robot.md} (99%) delete mode 100644 docs/examples/ekf_se23/index.md delete mode 100644 docs/examples/ekf_se23/one_robot.md delete mode 100644 docs/examples/ekf_se23/three_robot.md diff --git a/assets/vins/one_robot.ipe b/assets/one_robot.ipe similarity index 100% rename from assets/vins/one_robot.ipe rename to assets/one_robot.ipe diff --git a/assets/vins/one_robot.png b/assets/one_robot.png similarity index 100% rename from assets/vins/one_robot.png rename to assets/one_robot.png diff --git a/assets/vins/three_robots.ipe b/assets/three_robots.ipe similarity index 100% rename from assets/vins/three_robots.ipe rename to assets/three_robots.ipe diff --git a/assets/vins/three_robots.png b/assets/three_robots.png similarity index 100% rename from assets/vins/three_robots.png rename to assets/three_robots.png diff --git a/docs/examples/ekf_se3/index.md b/docs/examples/ekf/index.md similarity index 85% rename from docs/examples/ekf_se3/index.md rename to docs/examples/ekf/index.md index 5571785..b4e9519 100644 --- a/docs/examples/ekf_se3/index.md +++ b/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 new file mode 100644 index 0000000..3e8beb2 --- /dev/null +++ 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 new file mode 100644 index 0000000..dfc6d1d --- /dev/null +++ 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 b/docs/examples/ekf/se3_one_robot.md similarity index 99% rename from docs/examples/ekf_se3/one_robot.md rename to docs/examples/ekf/se3_one_robot.md index fa6f26b..aeead15 100644 --- a/docs/examples/ekf_se3/one_robot.md +++ b/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 b/docs/examples/ekf/se3_three_robot.md similarity index 99% rename from docs/examples/ekf_se3/three_robot.md rename to docs/examples/ekf/se3_three_robot.md index 7ec5342..a2f2e05 100644 --- a/docs/examples/ekf_se3/three_robot.md +++ b/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 deleted file mode 100644 index 915f2be..0000000 --- a/docs/examples/ekf_se23/index.md +++ /dev/null @@ -1,11 +0,0 @@ ---- -title: EKF - $SE_2(3)$ -parent: Examples -nav_order: 5 ---- - - diff --git a/docs/examples/ekf_se23/one_robot.md b/docs/examples/ekf_se23/one_robot.md deleted file mode 100644 index b42d762..0000000 --- a/docs/examples/ekf_se23/one_robot.md +++ /dev/null @@ -1,6 +0,0 @@ ---- -title: One robot -parent: EKF - $SE_2(3)$ -usemathjax: true -nav_order: 1 ---- diff --git a/docs/examples/ekf_se23/three_robot.md b/docs/examples/ekf_se23/three_robot.md deleted file mode 100644 index c79f69e..0000000 --- a/docs/examples/ekf_se23/three_robot.md +++ /dev/null @@ -1,6 +0,0 @@ ---- -title: Three robots -parent: EKF - $SE_2(3)$ -usemathjax: true -nav_order: 2 ----