Repository navigation
SensorFusionSim v1.0
First full release of SensorFusionSim — a modular C++20 sensor-fusion simulation with deterministic virtual time, pub/sub messaging, and real-time visualization.
Highlights
- Deterministic VirtualClock-driven timing
- Typed publish/subscribe CommunicationBus
- Motion-driven synthetic IMU + LiDAR generation
- Kalman-based planar tracking (px, py, vx, vy)
- Trajectory solving (azimuth, elevation, stability)
- EngagementController FSM with safety & dwell logic
- Live matplotlib visualization via JSON streaming
Build
cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build
Run
Plot server
python3 Visualization/liveplot_server.py
Simulator
./build/SensorFusionSim
Notes
This release brings the entire sensing → tracking → solving → engagement → visualization pipeline together into a unified, reproducible system.