We're updating the issue view to help you get more done. 

Refactor BatchEstimator and BatchEstimatorInv

Description

Refactor the BatchEstimator and BatchEstimatorInv class to prepare for the addition of the Batch Estimator Inner Loop and the EKF.

See linked Google Doc for a list of actions https://docs.google.com/document/d/1FdQ-bURQPXicpe3AIbHiK2TMmmq2SyZy5KGJbpf-7Nw/edit

Environment

None

Assignee

John McGreevy

Reporter

John McGreevy

Labels

Fix versions

Priority

P1
Configure