As/finalize docs (#75)

* Add reflection

* Update srs intro

* Update readme

README.md

@@ -22,6 +22,15 @@ The repo structure is:
 
 ```
 
+The recommended order to read the documentation is
+```mermaid
+graph LR
+    E(SRS) --> D
+    D(VnV Plan) --> C
+    C(MG) --> B
+    B(MIS) --> A(VnV Report)
+```
+
 ---
 
 ## Install

docs/Reflection/Reflection.tex

@@ -0,0 +1,96 @@
+\documentclass{article}
+
+\usepackage{tabularx}
+\usepackage{booktabs}
+
+\title{Reflection Report on \progname}
+
+\author{\authname}
+
+\date{}
+
+\input{../Comments}
+\input{../Common}
+
+\begin{document}
+
+\maketitle
+
+\section{Changes in Response to Feedback}
+
+Feedback from reviewers (Domain expert, Secondary, Instructor) was integrated into the
+documentation.
+
+\plt{Summarize the changes made over the course of the project in response to feedback from TAs, the
+instructor, teammates, other teams, the project supervisor (if present), and from user testers.}
+
+\subsection{SRS}
+
+The issues created by the reviewers and their corresponding commits that resolve them are tracked in
+the Pull Requests that merged them into the main branch. Most of the updates related to added more
+references or information to the Theoretical Models, and updating descriptions or assumptions to be
+more clear. The links below contain each issue and commit.
+
+\begin{itemize}
+    \item \url{https://github.com/adrian-soch/attitude_check/pull/41}
+    \item \url{https://github.com/adrian-soch/attitude_check/pull/71}
+\end{itemize}
+
+Changes to the SRS that came after development were additional instance models added to accommodate
+how to determine an initial orientation given various sensor measurements. See
+\url{https://github.com/adrian-soch/attitude_check/pull/72}.
+
+\subsection{Design and Design Documentation}
+
+Design documentation changes from reviewer comments was mostly grammar and descriptions. See
+\url{https://github.com/adrian-soch/attitude_check/pull/73#issuecomment-2037849232}.
+
+Most MG changes occured after development, to reflect changes to the modules and the hierachy. See
+this commit for MG changes
+\url{https://github.com/adrian-soch/attitude_check/pull/73/commits/9149bb88739fead86f0e5b4bcddd46f3f70f027e}.
+
+After implementation the MIS was updated to reflect the input and output types and module names that
+changed. See this commit
+\url{https://github.com/adrian-soch/attitude_check/pull/73/commits/4520b1efe777c05dea6d5f5d2d2bcd2bb271db19}.
+
+\subsection{VnV Plan}
+
+The VnV Plan was updated to fix typographic errors and hyperlinks. Furthermore, the NFR was
+corrected in the SRS to match the VnV document. Details in this PR:
+\url{https://github.com/adrian-soch/attitude_check/pull/71}.
+
+\section{Design Iteration}
+
+\plt{Explain how you arrived at your final design and implementation.  How did the design evolve
+from the first version to the final version?}
+
+The core of the final design was similar to the initial version, however the user facing return
+types and methods were updated during the implementation. Module names were changed to match the
+file names.
+
+\section{Design Decisions}
+
+\plt{Reflect and justify your design decisions.  How did limitations, assumptions, and constraints
+ influence your decisions?}
+
+The decision to use a custom Quaternion class was mostly to ensure there was enough content for the
+course. If this project was redone it would make more sense to use the quaternion class provided by
+Eigen since it is already a dependency for the matrix math.
+
+The assumptions constrained the problem enough to create a seemingly ``correct'' solution.
+
+% \section{Reflection on Project Management}
+
+% \subsection{What Went Well?}
+
+% \plt{What went well for your project management in terms of processes and technology?}
+
+% \subsection{What Went Wrong?}
+
+% \plt{What went wrong in terms of processes and technology?}
+
+% \subsection{What Would you Do Differently Next Time?}
+
+% \plt{What will you do differently for your next project?}
+
+\end{document}

docs/SRS/SRS.tex

@@ -336,6 +336,8 @@ \section{Introduction}
 presence of noise, bias, drift, and uncertainty in the sensor data, as well as the nonlinearity of
 the object dynamics \cite{statement}.
 
+There are many methods of estimating orientation, this project will reimplement the Madgwick filter \cite{madgwick_ecient_nodate}.
+
 \plt{The introduction section is written to introduce the problem.  It starts general and focuses on
   the problem domain. The general advice is to start with a paragraph or two that describes the
   problem, followed by a ``roadmap'' paragraph.  A roadmap orients the reader by telling them what
@@ -1428,8 +1430,7 @@ \subsubsection{Input Data Constraints} \label{sec_DataConstraints}
 \textbf{Var} & \textbf{Physical Constraints} & \textbf{Software Constraints} & \textbf{Typical
 Value} & \textbf{Uncertainty}\\
 \midrule
-    $\Delta t$ & $\Delta t > 0$ & $\Delta t > 0$ &
-    10 \si[per-mode=symbol] {\milli\second} & - \\
+    $\Delta t$ & $\Delta t > 0$ & $\Delta t > 0$ & 10 \si[per-mode=symbol] {\milli\second} & - \\
     $\gamma$ & - & $0.0 \leq \gamma \leq 1.0$ & 0.041 & - \\
 \bottomrule
 \end{longtable*}
@@ -1438,21 +1439,15 @@ \subsubsection{Input Data Constraints} \label{sec_DataConstraints}
 % \noindent \begin{description} \item[(*)] \plt{you might need to add some notes or clarifications}
 % \end{description}
 
-% \begin{table}[!h]
-% \caption{Specification Parameter Values} \label{TblSpecParams}
-% \renewcommand{\arraystretch}{1.2}
-% \noindent \begin{longtable*}{l l}
-% \toprule
-% \textbf{Var} & \textbf{Value} \\
-% \midrule
-%     $\Delta t_\text{min}$ & 1 \si{\milli\second}\\
+% \begin{table}[!h] \caption{Specification Parameter Values} \label{TblSpecParams}
+% \renewcommand{\arraystretch}{1.2} \noindent \begin{longtable*}{l l} \toprule \textbf{Var} &
+% \textbf{Value} \\
+% \midrule $\Delta t_\text{min}$ & 1 \si{\milli\second}\\
 %     $\Delta t_\text{max}$ & 100000 \si{\milli\second}\\
 %     $a_\text{max}$ & See sensor datasheet [\si{\meter\per\square\second}].\\
 %     $m_\text{max}$ & See sensor datasheet [\si{\tesla}].\\
 %     $\omega_\text{max}$ & See sensor datasheet [\si{\radian\per\second}].\\
-% \bottomrule
-% \end{longtable*}
-% \end{table}
+% \bottomrule \end{longtable*} \end{table}
 
 \subsubsection{Properties of a Correct Solution} \label{sec_CorrectSolution}
 
@@ -1549,6 +1544,10 @@ \subsection{Nonfunctional Requirements}
         achieved by \progname{} shall be described in Section 5.2.1 of the Verification and
         Validation plan \cite{VnV}.
 
+    \item[NFR\refstepcounter{nfrnum}\thenfrnum \label{nfr:performance}:]
+      \textbf{Performance}: \progname{} shall have an execution time on an embedded platform that is
+      200 Hz or better.
+
     \item[NFR\refstepcounter{nfrnum}\thenfrnum \label{nfr:understandability}:]
       \textbf{Understandability}: \progname{} shall follow standard coding conventions such that the
       Application programming Interface (API) is clearly understood by a typical user.
@@ -1760,7 +1759,7 @@ \section{Values of Auxiliary Constants}
 
 \bibliography {../refs/bib, ../refs/References}
 % \bibliography {./bib, ./References}
-\bibliographystyle{plain}
+\bibliographystyle{unsrt}
 
 \newpage
 \plt{Advice on using the template: