Redesign kalman filter class hierarchy
Description
Currently the EKF and related motion models have a little confusing ownership which negatively impacts readability (arguably for performance reasons). This issue is to track a thorough evaluation if this ownership makes sense and a rewrite if a simplification is possible.
Expected behavior
The readability of the code should be improved, i.e., ownership in classes related to motion models and EKF-related ones should make sense and be readable.
Definition of Done
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Motion model should be changed to return just the jacobian, state should not be part of the motion model. -
Further possible simplifications must be analyzed and implemented
Edited by Igor Bogoslavskyi