Improvements to batch estimator #142
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erez-tom
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Aug 2, 2023
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can you mark it as forked (rather than a new file) so we can see the changes?
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| #include "mjpc/agent.h" | |||
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| #include <absl/container/flat_hash_map.h> | |||
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Let's not change the order of the headers.
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the whole file is marked "new", and without seeing what changed it's too big to review from scratch...
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A collection of improvements and fixes are implemented for the batch estimator.
Estimatorclass is implemented to enable a unified interface for different estimators in MJPC. The batch estimator inherits from this class.Batchestimator include: additional settings, cost scaling based on model time step, private members and functions, curve search, additional unit tests, additional C++ functionality exposed to Python interface, solve status, position-based sensors at the first time stepAdditional changes:
State, including setting specific subsets of the state (eg.qposormocap)EstimatorPlanner::GUIandPlanner::PlotsinterfacesLinearSolveremoved (this was unused)Next:
Estimators to run in the MJPC GUI similar toPlannersBatchestimator in filter mode also works in the MJPC GUI (for a fixed estimation horizon for now)KalmanestimatorTodo (?)
python setup.py install) it is not possible to make changes to the C++ code and rebuildmjpcwithout deleting the build