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Commit 75cfde3e authored by Médéric Fourmy's avatar Médéric Fourmy
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Debugging using mocap measurements

parent 170e7fdf
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2 merge requests!18Release after RAL,!17After 2nd RAL submission
......@@ -9,5 +9,4 @@ keyframe_vote:
max_buff_length: 50000 # motion deltas
dist_traveled: 20000.0 # meters
angle_turned: 1000 # radians (1 rad approx 57 deg, approx 60 deg)
voting_active: false
voting_aux_active: false
\ No newline at end of file
voting_active: false
\ No newline at end of file
type: "ProcessorImu" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
time_tolerance: 0.0005 # Time tolerance for joining KFs
unmeasured_perturbation_std: 0.000001
keyframe_vote:
max_time_span: 0.05 # seconds
# max_time_span: 0.075 # slower walking
max_buff_length: 100000000000 # motion deltas
dist_traveled: 20000.0 # meters
angle_turned: 1000 # radians (1 rad approx 57 deg, approx 60 deg)
voting_active: true
\ No newline at end of file
angle_turned: 1000
dist_traveled: 20000.0
max_buff_length: 100000000000
max_time_span: 0.19999
voting_active: true
name: Main imu
time_tolerance: 0.0005
type: ProcessorImu
unmeasured_perturbation_std: 1.0e-06
......@@ -40,6 +40,9 @@ std_bp_drift: 0.005 # small drift
std_pose_p: 0.001
std_pose_o_deg: 1
std_mocap_extr_o_deg: 0.1
std_mocap_extr_p: 10
unfix_extr_sensor_pose: true
bias_imu_prior: [0,0,0, 0,0,0]
# bias_imu_prior: [0,0,-0.011,-0.000079251, 0.00439540765, -0.0002120267]
......@@ -71,6 +74,9 @@ artificial_bias_p: [0.0, 0.0, 0.0]
# artificial_bias_p: [3, 6, 4]
# Data files
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/data/quadruped_experiments/solo12_mpi_stamping_2020-09-29.npz"
# data_file_path: "/home/mfourmy/Documents/Phd_LAAS/data/quadruped_experiments/data_2020_10_08_09_50_Walking_Novicon.npz"
......
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config:
problem:
tree_manager:
fix_first_frame: true
n_frames: 5
n_fix_first_frames: 3
n_frames: 100000000000
type: TreeManagerSlidingWindow
viral_remove_empty_parent: true
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