Sensor fusion for motion and velocity estimation

This release adds an implementation of an Extended Kalman Filter for state prediction.

Note: running the simulation requires a Unity3D installation.

Highlights

Source

Implementation of an Extended Kalman Filter plugged to a Unity3D environment through a web server.
New

• Add the main script to interact with the web server and running the EKF (#1)
• Add FusionEKF class that calls the measurement update and prediction steps (#1).
• Add kalman_filter that defines the measurement update and prediction step (#1)
• Add measurement_package header to handle incoming measurements (#1)
• Add tools to compute the RMSE and Jacobian matrix (#1)

Test

Verifications of the project well-being before release
New

• Add test for src/tools.cpp (#2)

Others

Other tools and implementations

• Add installation script for Linux and MacOS (#2)
• Add clang-format configuration (#1)
• Switch most console outputs to spdlog (#2)
• Add a workflow to build and test the project for Linux and MacOS (#2)