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I have had thoughts about removing it. But I've been thankful for not removing it a couple of times now. At some point though when things are stable it should be removed.","created_at":"2015-10-23T13:56:05Z","updated_at":"2015-10-23T13:56:05Z","html_url":"https://github.com/ethz-asl/ros_vrpn_client/pull/29#discussion_r42866869","pull_request_url":"https://api.github.com/repos/ethz-asl/ros_vrpn_client/pulls/29","_links":{"self":{"href":"https://api.github.com/repos/ethz-asl/ros_vrpn_client/pulls/comments/42866869"},"html":{"href":"https://github.com/ethz-asl/ros_vrpn_client/pull/29#discussion_r42866869"},"pull_request":{"href":"https://api.github.com/repos/ethz-asl/ros_vrpn_client/pulls/29"}}},"pull_request":{"url":"https://api.github.com/repos/ethz-asl/ros_vrpn_client/pulls/29","id":48563686,"html_url":"https://github.com/ethz-asl/ros_vrpn_client/pull/29","diff_url":"https://github.com/ethz-asl/ros_vrpn_client/pull/29.diff","patch_url":"https://github.com/ethz-asl/ros_vrpn_client/pull/29.patch","issue_url":"https://api.github.com/repos/ethz-asl/ros_vrpn_client/issues/29","number":29,"state":"open","locked":false,"title":"Feature/inversion handling","user":{"login":"alexmillane","id":671701,"avatar_url":"https://avatars.githubusercontent.com/u/671701?v=3","gravatar_id":"","url":"https://api.github.com/users/alexmillane","html_url":"https://github.com/alexmillane","followers_url":"https://api.github.com/users/alexmillane/followers","following_url":"https://api.github.com/users/alexmillane/following{/other_user}","gists_url":"https://api.github.com/users/alexmillane/gists{/gist_id}","starred_url":"https://api.github.com/users/alexmillane/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/alexmillane/subscriptions","organizations_url":"https://api.github.com/users/alexmillane/orgs","repos_url":"https://api.github.com/users/alexmillane/repos","events_url":"https://api.github.com/users/alexmillane/events{/privacy}","received_events_url":"https://api.github.com/users/alexmillane/received_events","type":"User","site_admin":false},"body":"Changes to make the estimator robust to:\r\n\r\n- Flips between redundant quaternion representations of the measured orientation.\r\n- Legitimate flips of the measured rotation (outliers)\r\n\r\nAdditional changes:\r\n\r\n- Estimator parameter tuning for real world data\r\n- Addition of the \"EIGEN_MAKE_ALIGNED_OPERATOR_NEW\" where it was missing.\r\n\r\nComments: There are a few improvement I think would still be nice:\r\n\r\n- Given that the measurement flipping caused significant issues i think it makes sense to include a regression test to ensure that susceptibility to this effect is not reintroduced in future changes.\r\n- It would be nice for this estimator, and for other places in our future infrastructure, to define a library for control/estimation on SO(3) derived manifolds. 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