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An problem with UKF in predict #29
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Hi @Freeskylover , |
the imu information timestamp(control_vector) is the same(maybe behind) with the observation timestamp in your code. why not is that the imu information timestamp is before the observation timestamp? |
In this code, we give the predict function the timestamp of the IMU data (control vector) but not the point cloud (observation) timestamp, and "if(stamp < (*imu_iter)->header.stamp)" prevents feeding IMU data after the current observation timestamp. So, only IMU data before the observation timestamp are used to predict the UKF state. Is it clear to you? |
I understand it, thank for your reply, misunderstand it. you are right. |
**why using the imu_iter on the stamp with observation not the pre_stamp **
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