changed stack descr. and removed some small parts in the code which w…

…ere unused

README.md

@@ -1,4 +1,4 @@
-ethzasl_sensor_fusion
+ethzasl_modular_sensor_fusion
 =====================
 
 time delay compensated single and multi sensor fusion framework based on an EKF

msf_core/IMPORTANT

@@ -1,5 +1,5 @@
-Note on ssf_core and pcl from ROS:
-- When pcl libraries used with ssf_core the EKF update yields NaNs
+Note on msf_core and pcl from ROS:
+- When pcl libraries used with msf_core the EKF update yields NaNs
 
 possible reason: pcl libraries conflict with Eigen (overwriting symbols,
 definitions, functions,...??). This yields wierd values in Eigen 

msf_core/include/msf_core/msf_core.hpp

@@ -98,9 +98,6 @@ class MSF_Core
 
 
 private:
-	const static int nMaxCorr_ = 50; ///< number of IMU measurements buffered for time correction actions
-	const static int QualityThres_ = 1e3;
-
 	Eigen::Matrix<double, nErrorStatesAtCompileTime, nErrorStatesAtCompileTime> Fd_; ///< discrete state propagation matrix
 	Eigen::Matrix<double, nErrorStatesAtCompileTime, nErrorStatesAtCompileTime> Qd_; ///< discrete propagation noise matrix
 

msf_core/manifest.xml

@@ -1,13 +1,13 @@
 <package>
   <description brief="msf_core">
 
-     Multi Sensor Fusion (MSF) framework containing the core filter functions including full state propagation and shell for update sensor modules
+     Modular Sensor Fusion (MSF) framework containing the core filter functions including full state propagation and shell for update sensor modules
 
   </description>
-  <author>Stephan Weiss, Markus Achtelik</author>
+  <author>Simon Lynen, Stephan Weiss, Markus Achtelik</author>
   <license>BSD</license>
   <review status="unreviewed" notes="under active development"/>
-  <url>http://ros.org/wiki/ethzasl_sensor_fusion/ssf_core</url>
+  <url>http://ros.org/wiki/ethzasl_modular_sensor_fusion/msf_core</url>
   <depend package="roscpp"/>
   <depend package="sensor_msgs"/>
   <depend package="dynamic_reconfigure"/>

msf_updates/mainpage.dox

@@ -2,7 +2,7 @@
 \mainpage
 \htmlinclude manifest.html
 
-\b ssf_updates is ... 
+\b msf_updates is ... 
 
 <!-- 
 Provide an overview of your package.

msf_updates/manifest.xml

@@ -1,13 +1,13 @@
 <package>
   <description brief="msf_updates">
 
-     Single Sensor Fusion (SSF) framework containing the update sensor modules
+     Modular Sensor Fusion (MSF) framework containing the update sensor modules
 
   </description>
-  <author>Stephan Weiss, Markus Achtelik</author>
+  <author>Simon Lynen, Stephan Weiss, Markus Achtelik</author>
   <license>BSD</license>
   <review status="unreviewed" notes="under active development"/>
-  <url>http://ros.org/wiki/ethzasl_sensor_fusion/ssf_updates</url>
+  <url>http://ros.org/wiki/ethzasl_modular_sensor_fusion/msf_updates</url>
   <depend package="roscpp"/>
   <depend package="msf_core"/>
   <depend package="geometry_msgs"/>

stack.xml

@@ -1,9 +1,9 @@
 <stack>
   <description brief="msf">msf</description>
-  <author>Maintained by sweiss</author>
+  <author>Maintained by slynen at ethz at ch</author>
   <license>BSD</license>  
   <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/sensor_fusion</url>
+  <url>http://ros.org/wiki/modular_sensor_fusion</url>
   <depend stack="ros" />
 
 </stack>