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Kalman filter #150

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merged 14 commits into from
Aug 20, 2023
Merged

Kalman filter #150

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18aaf12
add kalman filter, modifications to batch estimator
thowell Aug 15, 2023
82b2a44
add kalman_test to build
thowell Aug 15, 2023
b6b35c7
add kalman_test to build
thowell Aug 15, 2023
459a024
minor fixes
thowell Aug 15, 2023
1aeb9dc
cpplint
thowell Aug 16, 2023
08b8a00
Merge branch 'batch_rename' into kalman_filter
thowell Aug 17, 2023
bb9ff5e
remove tblock task
thowell Aug 17, 2023
a8a4049
remove unused batch_service_test
thowell Aug 17, 2023
c942d45
minor fixes
thowell Aug 17, 2023
a12be80
reformat setup_kalman.py
thowell Aug 17, 2023
5b9038e
more minor fixes
thowell Aug 17, 2023
704ba9e
reformat kalman.h
thowell Aug 17, 2023
34af067
remove batch_service_test
thowell Aug 20, 2023
3558421
remove kalman grpc + python
thowell Aug 20, 2023
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2 changes: 1 addition & 1 deletion .github/workflows/build.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ jobs:
${{ matrix.cmake_args }}
- name: Build MuJoCo MPC
working-directory: build
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} --target mjpc agent_test cost_derivatives_test norm_test rollout_test threadpool_test trajectory_test utilities_test batch_force_test batch_optimize_test batch_prior_test batch_sensor_test estimator_trajectory_test estimator_utilities_test ${{ matrix.additional_targets }}
run: cmake --build . --config=Release ${{ matrix.cmake_build_args }} --target mjpc agent_test cost_derivatives_test norm_test rollout_test threadpool_test trajectory_test utilities_test batch_force_test batch_optimize_test batch_prior_test batch_sensor_test estimator_trajectory_test estimator_utilities_test kalman_test ${{ matrix.additional_targets }}
- name: Test MuJoCo MPC
working-directory: build
run: ctest -C Release --output-on-failure .
2 changes: 0 additions & 2 deletions grpc/CMakeLists.txt
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Expand Up @@ -56,7 +56,6 @@ get_filename_component(agent_service_proto_path "${agent_service_proto}" PATH)
get_filename_component(batch_service_proto "./batch.proto" ABSOLUTE)
get_filename_component(batch_service_proto_path "${batch_service_proto}" PATH)


# Generated sources
set(agent_service_proto_srcs "${CMAKE_CURRENT_BINARY_DIR}/agent.pb.cc")
set(agent_service_proto_hdrs "${CMAKE_CURRENT_BINARY_DIR}/agent.pb.h")
Expand Down Expand Up @@ -209,4 +208,3 @@ target_include_directories(batch_server PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
message(BATCH_SERVICE_COMPILE_OPTIONS=${BATCH_SERVICE_COMPILE_OPTIONS})
target_compile_options(batch_server PUBLIC ${BATCH_SERVICE_COMPILE_OPTIONS})
target_link_options(batch_server PRIVATE ${BATCH_SERVICE_LINK_OPTIONS})

71 changes: 0 additions & 71 deletions grpc/batch_service_test.cc
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6 changes: 5 additions & 1 deletion mjpc/CMakeLists.txt
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Expand Up @@ -100,9 +100,13 @@ add_library(
planners/ilqs/planner.h
estimators/batch.cc
estimators/batch.h
estimators/estimator.h
estimators/gui.cc
estimators/gui.h
estimators/include.cc
estimators/include.h
estimators/estimator.h
estimators/kalman.cc
estimators/kalman.h
estimators/trajectory.h
app.cc
app.h
Expand Down
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