[AMR] Summarize W4 content

electives/others/amr/parts/01_kinematics/04_rigid-body-imu-kinematics.tex

@@ -46,5 +46,5 @@ $\displaystyle \vec{\dot{q}}_{WS} = \frac{1}{2} \vec{q}_{WS} \otimes
     where {\color{gray} gray parts} only IRL (in theor. models, leave out), with $\vec{\dot{b}}_g = \vec{w}_{b_g}$ and $\vec{\dot{b}}_a = \vec{w}_{b_a}$
 
 \bi{IMU Sensor Model}: $\vec{\tilde{z}} = \vec{b}_C + s\mat{M}\vec{z} + \vec{b} + \vec{n} + \vec{o}$
-where bias $\vec{b}$ and scale $s$ often modled as time-varying state $\dot{b}(t) = \sigma_C n(t)$.
-$\vec{b}_C$ const. calib. and $\vec{n}$ the model.
+where bias $\vec{b}$ and scale $s$ often modelled time-varying $\dot{b}(t) = \sigma_C n(t)$.
+$\vec{b}_C$ const. calib; $\mat{M}$ Misalignment; $\vec{n}$ noise; $\vec{o}$ other infl.

electives/others/amr/parts/01_kinematics/06_wheeled-robot.tex

@@ -40,6 +40,7 @@
 \bi{Gen. eq. of Motion} $\dot{x}_1 = v\cos(\theta)$, $\dot{x}_2 = v\sin(\theta)$, $\dot{\theta} = \Omega$,
 with $v = 0.5\cdot(\omega_l r_l + \omega_r + r_r)$, $\Omega = \frac{\omega_r r_r - \omega_l r_l}{w}$
 
+% TODO: Consider adding wheel constraints (planar) here as well (from W05 slides)
 \textit{Straight}: $v = \omega_l r_l = \omega_r r_r$, $\Omega = 0$, $D = v\Delta t$.\\
 $\vec{b}_s = \begin{bmatrix}
         D \cos(\theta) \\