The refx Cookbook

Welcome to the refx Cookbook! This is a collection of practical, real-world recipes designed to help you solve common problems in robotics and navigation. While the Full Documentation explains what each component does, this cookbook shows you how to put them together to build robust, safe, and readable software.

Each recipe is a handout in the refx philosophy of thinking in frames. You'll learn how to leverage the refx type system to prevent bugs before they happen and write code that is a clear reflection of the underlying mathematics.

Table of Contents

Here you will find a list of available recipes, each tackling a specific challenge. The list is constantly updated.

From Sensor Measurement to Global Position

Goal: Take a sensor detection from a vehicle's local frame and find its absolute position in a global navigation frame.
Concepts Covered: Coordinate3D, frame_transform.

IMU Measurements Compensation for Navigation Filters

Goal: Correct raw IMU measurements for the effects of gravity and the Earth's rotation to prepare them for integration in a navigation filter.
Concepts Covered: Using high-fidelity EarthModels, transforming physical vectors (gravity, etc.) between frames, practical application of Rotation and Vector3D for sensor fusion.