Broke out encoder updates based on state settings. NOT fully Tested
Tested KF State settings to work with velocity errors states only
Added faults back into trajectory and tuned
Solving only for systematic error parameters now works.
Tuned for a reasonable parameter error case. Seems to converge no
problem.
Fixed the movie display without vErr states. Starting to add capability for system error testing with real data
Ticks-per-meter and Track Width scaling tested and working using REAL ROBOT DATA. Hoorayy. Quite cool
Added back in wheel velocity error states
Removed systematic parameter changes from the simulation for wheel velocity errors
Merge branch 'master' of https://github.com/ejk43/robot-kalmanfilter