From 41bec7c19db27844158b9377bddfcd4f97185f49 Mon Sep 17 00:00:00 2001 From: Nimesh Khandelwal Date: Mon, 18 Mar 2024 15:55:49 -0400 Subject: [PATCH] Increased covariance of process prediction. Only relying on estimated forces for contact detection. --- locomotion/src/execution/src/Estimator/QuadEstimator.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/locomotion/src/execution/src/Estimator/QuadEstimator.cpp b/locomotion/src/execution/src/Estimator/QuadEstimator.cpp index 88d10f9..3723904 100644 --- a/locomotion/src/execution/src/Estimator/QuadEstimator.cpp +++ b/locomotion/src/execution/src/Estimator/QuadEstimator.cpp @@ -14,13 +14,13 @@ void QuadEstimator::InitClass() { m_forces_estimated = vec12::Zero(); // m_sigma_pz = 0.841 * Eigen::Matrix4d::Identity(); // value from contact event detection paper MIT - m_sigma_pz = 10.0 * mat4x4::Identity(); // value from contact event detection paper MIT + m_sigma_pz = 100.0 * mat4x4::Identity(); // m_sigma_fz = 0.930 * Eigen::Matrix4d::Identity(); // value from contact event detection paper MIT m_sigma_fz = 0.3 * mat4x4::Identity(); // m_sigma_measurement = mat8x8::Zero(); m_sigma_measurement.block<4,4>(0, 0) = m_sigma_pz; m_sigma_measurement.block<4,4>(4, 4) = m_sigma_fz; - m_sigma_process = 0.2 * Eigen::Matrix4d::Identity(); + m_sigma_process = 100.2 * Eigen::Matrix4d::Identity(); m_jv_prev = vec18::Zero(); InitEstimatorVars();