Added planetary data, Canada example is modified, related to #102 #117

rodralez · Mar 30, 2022 · 788d0f6 · 788d0f6
1 parent ea907d9
commit 788d0f6
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Showing 15 changed files with 184 additions and 160 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,2 @@
-*.mat
 *.csv
 *.m~
diff --git a/examples/planetary-data/canada-planetary-data/data/gnss_planetary.mat b/examples/planetary-data/canada-planetary-data/data/gnss_planetary.mat
diff --git a/examples/planetary-data/canada-planetary-data/data/gnss_planetary_r.mat b/examples/planetary-data/canada-planetary-data/data/gnss_planetary_r.mat
diff --git a/examples/planetary-data/canada-planetary-data/data/gnss_planetary_sparse_r.mat b/examples/planetary-data/canada-planetary-data/data/gnss_planetary_sparse_r.mat
diff --git a/examples/planetary-data/canada-planetary-data/data/gnss_sparse_planetary.mat b/examples/planetary-data/canada-planetary-data/data/gnss_sparse_planetary.mat
diff --git a/examples/planetary-data/canada-planetary-data/data/imu_planetary.mat b/examples/planetary-data/canada-planetary-data/data/imu_planetary.mat
diff --git a/examples/planetary-data/canada-planetary-data/data/visual_planetary.mat b/examples/planetary-data/canada-planetary-data/data/visual_planetary.mat
diff --git a/examples/planetary-data/canada-planetary-data/scripts/imu_structure.m b/examples/planetary-data/canada-planetary-data/scripts/imu_structure.m
@@ -37,7 +37,7 @@
 
     %% IMU ERROR PROFILE
 
-    imu_data_planetary = readtable('Data/Canada/IMU/imu.txt');
+    load ../data/imu_planetary.mat
 
     % IMU data structure:
     %         t: Ix1 time vector (seconds).
@@ -91,19 +91,19 @@
     imu_planetary.m_psd    = [m_psd,m_psd,m_psd];
 
     % time 
-    timestamps = table2array(imu_data_planetary(:,1));
-    timestamps = (timestamps - timestamps(1));
-    dt = mean(diff(timestamps));
-    imu_planetary.t = (timestamps(1):dt:timestamps(end))';
-    imu_planetary.freq = 1/dt; 
+%     timestamps = table2array(imu_data_planetary(:,1));
+%     timestamps = (timestamps - timestamps(1));
+%     dt = mean(diff(timestamps));
+%     imu_planetary.t = (timestamps(1):dt:timestamps(end))';
+%     imu_planetary.freq = 1/dt; 
 
     imu_planetary.ini_align_err = [10 10 10] .* D2R; % initial attitude align errors for matrix P in Kalman filter, [roll pitch yaw] (radians)
     imu_planetary.ini_align = [0 0 0] .* D2R; % Initial attitude align at t(1) (radians)
 
-    imu_planetary.fb = table2array(imu_data_planetary(:,2:4)); % acceleration measurements
-    imu_planetary.wb = table2array(imu_data_planetary(:,5:7)); % gyroscopic measurements
+%     imu_planetary.fb = table2array(imu_data_planetary(:,2:4)); % acceleration measurements
+%     imu_planetary.wb = table2array(imu_data_planetary(:,5:7)); % gyroscopic measurements
 
     %% Saving
 
-    save('NaveGo-master/examples/planetary-data/canada-planetary-data/data/imu_planetary.mat','imu_planetary');
+%     save('NaveGo-master/examples/planetary-data/canada-planetary-data/data/imu_planetary.mat','imu_planetary');
 end