Linear Dynamics and Sampling Distribution Unit Tests #1
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
- Added unit tests for the linear dynamics
- Make computeLikelihoodRatioCost with Eigen match device version of the method in GaussianDistribution - Add an Eigen version of computeFeedbackCost() in base sampling distribution class - Add Gaussian-specific unit tests to ensure Gaussian distributions are Gaussian as well as ensure that the the number of distributions asked for does not go over the max allowed in the GaussianParams struct - Add generic unit tests for sampling distributions that check that they construct correctly, give access to the same controls on host and device, calculate the same costs between host and device, and ensure that the number of distributions, timesteps and samples can be adjusted.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds Linear Dynamics as a possible Dynamics class of the form x_dot = Ax + Bu. In addition, unit tests for both the new dynamics as well as the Sampling Distributions API were added and bugs in Sampling Distributions were fixed as a result