add output dir.

.clang-format

@@ -1,39 +1,168 @@
-# clang-format configuration
-
-# created by hailiang
-
-# Base
-BasedOnStyle: LLVM
-
-# Indent
-UseTab: Never
-TabWidth: 4
-IndentWidth: 4
-ColumnLimit: 120
-AccessModifierOffset: -4
-ObjCBlockIndentWidth: 4
-IndentWrappedFunctionNames: true
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
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+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
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+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
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+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
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+ContinuationIndentWidth: 4
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+DeriveLineEnding: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
 IndentCaseLabels: true
-
-# Line
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
 MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
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+PenaltyBreakBeforeFirstCallParameter: 1
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+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
-KeepEmptyLinesAtTheStartOfBlocks: true
-AllowShortFunctionsOnASingleLine: None
-AllowShortIfStatementsOnASingleLine: Never
-AllowAllParametersOfDeclarationOnNextLine: true
-BreakConstructorInitializersBeforeComma: true
-
-# Space
-PointerAlignment: Right
-SpacesInSquareBrackets: false
+SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
-SpaceAfterCStyleCast: true
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...
 
-# Alignment
-ObjCSpaceAfterProperty: true
-AlignTrailingComments: true
-AlignOperands: true
-AlignConsecutiveDeclarations: None
-AlignConsecutiveAssignments: Consecutive

README.md

@@ -1,11 +1,13 @@
 # Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System
+<img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" />
+<img src="https://img.shields.io/badge/Windows-0078D6?st&logo=windows&logoColor=white" />
 
 Unlike the conventional odometer-aided inertial navigation system (ODO/INS) where the IMU is always placed either on the vehicle body or in the coach, in Wheel-INS, the IMU is mounted on the wheel of the ground vehicle. There are two major advanatges by doing so: 1) the wheel velocity can be obtained by the Wheel-IMU thus replace the traditional odometer (or wheel encoder); 2) the rotation modulation can be leveraged to mitigate the error accumulation of INS. Particularly, the wheel velocity calculated by the gyroscope outputs and the wheel radius is treated as an external observation with non-holonomic constraint (NHC) to fuse with INS through an extended Kalman filter (EKF).
 
 ## :boom:News:boom:
-:tada::tada: Oct. 2023 A completely new version of the code is released!
+:tada::tada: Oct. 2023 A completely new version of the code supporting both Linux and Windows is released!
 
-:tada::tada: Nov. 2022 Our paper on one wheel-mounted IMU-based SLAM ([Wheel-SLAM](https://arxiv.org/pdf/2211.03174.pdf)) has been accepted to IEEE Robotics and Automation Letters. The [source code](https://github.com/i2Nav-WHU/Wheel-SLAM) is released. Check it out!
+:tada::tada: Nov. 2022 Wheel-INS has been extended to SLAM! Check out our paper of [Wheel-SLAM](https://arxiv.org/pdf/2211.03174.pdf) accepted to IEEE Robotics and Automation Letters. The [source code](https://github.com/i2Nav-WHU/Wheel-SLAM) is also released. 
 
 :tada::tada: Nov. 2022 Our paper on multiple IMUs-based wheeled robot localization ([Wheel-INS2](https://ieeexplore.ieee.org/document/9950438)) has been accepted to IEEE Transactions on Intelligent Transportation Systems. Check it out!
 
@@ -51,7 +53,7 @@ Once a execuble file **Wheel-INS.exe** is generated, the compilation is done. Th
 ```
 You can then run **plot.py** in utils to plot the trajectory estimated by Wheel-INS as well as the raw Wheel-IMU data.
 ## Datasets
-Two sets of example data with ground truth are also provided (see ***dtaset***). Please refer to the ***ReadMe.pdf*** for details. If *git clone* is too slow, please try to download the *.zip* file directly.
+Two sets of example data with ground truth are provided (see ***dtaset***). Please refer to the ***ReadMe.pdf*** for details. If *git clone* is too slow, please try to download the *.zip* file directly.
 
 ## Related Papers
 *Based on the study of Wheel-IMU, we have published three papers. 1) The original Wheel-INS paper where we proposed a wheel-mounted IMU-based dead reckoning system and investigated its characteristics. 2) A thorough and complete comparison on three different measurement models in Wheel-INS with both theoretical analysis and experimental illustration. 3) A multiple IMUs-based localization system for wheeled robots by obtaining different dynamic information of the vhehicle and taking advantage of the relative spatial constraints among the inertial sensors.*

config/robot.yaml

@@ -1,8 +1,8 @@
 # Pioneer Robot 
 
 #Linux
-imupath: "~/Wheel-INS/dataset/robot/Wheel-IMU/C1_imu.bin"
-outputpath: "~/Wheel-INS/output/robot"
+imupath: "/home/yibin/code/Wheel-INS/dataset/robot/Wheel-IMU/C1_imu.bin"
+outputpath: "/home/yibin/code/Wheel-INS/output/robot"
 
 #Windows
 # imupath: "yourpath\\Wheel-INS\\dataset\\robot\\Wheel-IMU\\C1_imu.bin"