botutils

Summary

Some commonly used functions for robots.

Provide：

• performance measurement
• rate: Clock loop with wait
• timer
• lowpass fitler
• kalman filter
• fusion quaternion: Update quaternion based on gyroscope and accelerometer and magnetometer

Requirements

kalman filter module

• Eigen3

Build

mkdir build
cd build
cmake ..
make -j`nproc`

Test

cd build
./test/tests