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cmm-21 / a2

Assignment 2 - Kinematic walking controller
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Test.cpp doesn't work #36

Closed Maenzgi closed 3 years ago

Maenzgi commented 3 years ago

Dear All

I tried to implement Ex.4, and realized that the test.cpp file doesn't work. I did change the file according to Issue #21. Here is what happens: grafik

My question: Does anybody else have this issue, and if so, how do you fix it? Also, I did print out my jacobians and compared them by eye. Do I still get the full credit for Ex.4 if my jacobian is correct, even if my test.cpp doesn't work?

Best, Manuel

eastskykang commented 3 years ago

Sorry this is my bad. You should change line 40, not 39 (the announcement was misleading)

So, not this

image

but this.

 // compare analytic jacobian with estimated one
for (uint r = 0; r < dpdq_analytic.rows(); r++) {
    for (uint c = 0; c < dpdq_analytic.cols(); c++) {
        res += SAME(dpdq_analytic(r, c), dpdq_estimated(r, c), 1e-4);
    }
}

related issue: #21