Compute residuals, and visualize them

ethz-asl / data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles

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Compute residuals, and visualize them #113

Closed Jaeyoung-Lim closed 3 years ago

Jaeyoung-Lim commented 3 years ago

Problem Description This PR adds residual computation of the force and moments, so that we can use the computed residuals for other methods as a pandas dataframe format.

Residual_Visualization

Note that this shows that the moment estimation error seems to follow closely the data distribution of the measurements. Probably this implies that the predictions are not working.

Jaeyoung-Lim commented 3 years ago

@manumerous Any objections?

Jaeyoung-Lim commented 3 years ago

@manumerous How can we fix the ang_vel_x topic missing from the csv? (This is not written anywhere)

Jaeyoung-Lim commented 3 years ago

Merging since this has been hanging. If there are specific things to change, please raise