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Implement point cloud alignment for SE3

1

Point cloud alignment is an application common enough that Eigen provides `Eigen::umeyama` to this end. Sophus can do better by exploiting a closed form solution for the optimum rotation quaternion....

This PR addresses the issue that oft-changed configuration variables `INPUT_W`/`INPUT_H` and `CLASS_NUM` are embedded in the source code. We introduce relevant CMake variables such that users can pass variables, for...

Getting local pose in multi-UAV simulation

2

I'm running multi-UAV simulation via `roslaunch px4 multi_uav_mavros_sitl.launch`. I'm used to using `/local_position/pose` to provide feedback for a tracking controller. However, at simulation start, the local position readouts from each...

Looking at [the docs](https://web.casadi.org/docs/) that listed available options for the `CodeGenerator` class, I couldn't find any option that controls which directory will the generated files be put in On the...

Adding cmake options to toggle building / skipping vehicle-specific plugins?

3

A `make px4_sitl gazebo` call in a fresh PX4 repo takes around 2 to 3 minutes, and I always find myself commenting out some plugins that clearly correspond to specific...

Using diffrax to integrate system dynamics for Model Predictive Control

1

Diffrax docs' [Kalman Filter Example](https://docs.kidger.site/diffrax/examples/kalman_filter/) encouraged me to apply diffrax to other linear-quadratic control problems, such as the following ``` math \min_{u(t)} x_N^TQx_N + \sum_{k=0}^N x_k^T Q x_k + u_k^T...