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geez0x1 / CompliantJointToolbox

Compliant Joint Toolbox (CJT) for MATLAB and Simulink
GNU General Public License v3.0
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Quantisation #13

Closed geez0x1 closed 8 years ago

geez0x1 commented 8 years ago

One essential feature is missing; quantisation. It will be added, for the (encoder-based) measurements at least.

geez0x1 commented 8 years ago

For each position/velocity we have e.g. LinkPos, LinkPosNoNoise, LinkVelFiltered, and LinkVelNoNoise, where LinkVelNoNoise is in fact without both noise and filtering. The velocities come from the corresponding states in the dynamics equations.

In order to add quantisation, one cannot simply quantize the exact value of the velocity, because in practice, the velocity is calculated by subtracting two already quantized encoders. So I will change the velocities to be the discrete-time derivative of the already noisy/quantized position signal, by including an s (Laplace) in the filter (which is an efficient way of doing it). The "NoNoise" signals can remain the same (that is, LinkPosNoNoise and LinkVelNoNoise).

@joernmalzahn

geez0x1 commented 8 years ago

We might also want to rename "NoNoise" to something like "clean" or "real"

geez0x1 commented 8 years ago

I have added quantisation in 6b607dc6419c640225f9f2e91de2821d446a4f51