Problem Description
Each model type had it's own version of prepare_regression_matrices leading to inconsistent implementations of each model.
What only needs to be model specific is the force and moment matrices and not the whole construction of the regression matrix
Proposed Solution
This PR moves prepare_regression_matrices to the DynamicsModel(which is the parent class) in order to reduce repeated code and retain consistency between models.
If either of the prepare_force_regression_matrices or prepare_moment_regression_matrices are not implemented in the dynamics model, this throws a not implemented exception.
Problem Description Each model type had it's own version of
prepare_regression_matricesleading to inconsistent implementations of each model.What only needs to be model specific is the force and moment matrices and not the whole construction of the regression matrix
Proposed Solution This PR moves
prepare_regression_matricesto theDynamicsModel(which is the parent class) in order to reduce repeated code and retain consistency between models.If either of the
prepare_force_regression_matricesorprepare_moment_regression_matricesare not implemented in the dynamics model, this throws a not implemented exception.Additional Context
quadplane_modelwas configured to run thestandardplane_model- Introduced by https://github.com/ethz-asl/data-driven-dynamics/pull/115