[TASK] Triangulation

[jorgenfj]

Description of task

Create a package to perform triangulation using measurement direction vectors as input.

Subscribe to incoming measurements that give 3d direction vector in body frame. Transform measurements to odom frame and perform triangulation there.

Suggested Workflow

Explore different solutions, i.e. using all measurements or a sliding window of the past measurements.
Find out what algorithm to use for this problem i.e. least squares or something else

Specifications

Should be configurable to support both low/high frequency input rates and low/high measurement uncertainties

Contacts

No response

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)