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Increased covariance of process prediction. Only relying on estimated forces for contact detection.

This commit is contained in:
Nimesh Khandelwal 2024-03-18 15:55:49 -04:00
parent 8547fe8b10
commit 41bec7c19d
1 changed files with 2 additions and 2 deletions
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4
locomotion/src/execution/src/Estimator/QuadEstimator.cpp
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@ -14,13 +14,13 @@ void QuadEstimator::InitClass() {
m_forces_estimated = vec12::Zero(); m_forces_estimated = vec12::Zero();
// m_sigma_pz = 0.841 * Eigen::Matrix4d::Identity(); // value from contact event detection paper MIT // 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 = 0.930 * Eigen::Matrix4d::Identity(); // value from contact event detection paper MIT
m_sigma_fz = 0.3 * mat4x4::Identity(); // m_sigma_fz = 0.3 * mat4x4::Identity(); //
m_sigma_measurement = mat8x8::Zero(); m_sigma_measurement = mat8x8::Zero();
m_sigma_measurement.block<4,4>(0, 0) = m_sigma_pz; m_sigma_measurement.block<4,4>(0, 0) = m_sigma_pz;
m_sigma_measurement.block<4,4>(4, 4) = m_sigma_fz; 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(); m_jv_prev = vec18::Zero();
InitEstimatorVars(); InitEstimatorVars();