Yan-Liang Chen

Fix typo in gem_hardware.py and correct unit of pose reading in state…

2

…_estimation.py - Fix typo that subscribed to Inspva instead of INSNavGeod in gem_hardware.py. - Convert gnss_pose latitude and longitude readings from radians to degrees in state_estimation.py to allow correct input...

[s2024 dynamics] Implement curvature based speed parameterization function

2

This commit introduces the curvature_based_speed_parameteriz() function in `trajectory.py` and adds a new configuration file `curvature_based_speed_parameterize.yaml` under `GEMstack/knowledge/defaults`. The CBSP function is designed to modulate vehicle speeds based on path curvature...

S2024 dynamics add acceleration calibration utility to utils

2

- Implemented functions to extract measured and output acceleration, as well as speed data from txt files. - Added friction modeling and curve fitting to calculate and plot friction forces...