For N!=M in the NxM calibration matrix, there appears to be a bug in the code for the signal extraction.
The number of signals(M) can exceed N=(FC_FTS_N_DIMS=6). In the following logic the UpdateSignal() call is only looped over N times so this would be an issue for non-square calibration matricies.
for (int ii = 0; ii < FC_FTS_N_DIMS; ii++) {
if (!UpdateSignal(signals_[ii])) {
ERROR("Could not extract signal");
return false;
}
wrench_[ii] = 0;
for (size_t jj = 0; jj < signals_.size(); jj++) {
wrench_[ii] += calibration_[ii][jj] * signals_[jj].value;
}
}
To implement a fix, write a new test case that shows non-square calibration matrix in a new YAML file and prove this is not working as expected. Implement the fix, then show the test case is passing.
alex-brinkman
commented
1 year ago
For N!=M in the NxM calibration matrix, there appears to be a bug in the code for the signal extraction.
The number of signals(M) can exceed N=(FC_FTS_N_DIMS=6). In the following logic the
UpdateSignal()call is only looped over N times so this would be an issue for non-square calibration matricies.https://github.com/nasa-jpl/fastcat/blob/d3b9b1ddaee24e38510acaafb4a2fc1dd88c8f27/src/fastcat_devices/fts.cc#L103
To implement a fix, write a new test case that shows non-square calibration matrix in a new YAML file and prove this is not working as expected. Implement the fix, then show the test case is passing.