Closed skywoodsz closed 2 years ago
Hi, I have some questions about your linear kalman filter.cpp.
In Mit Cheetah program, they let $$ x = [{}^op{com}, {}^ov{com}, {}^op_i]^T $$
where represents the position of COM, the velocity of COM and the position of foot in the world frame, respectively. Therefore their c matrix is
_C.block(0, 6, 12, 12) = T(-1) * Eigen::Matrix<T, 12, 12>::Identity();
But in your linear Kalman filter, your c matrix is
c_.block(0, 6, 12, 12) = Eigen::Matrix<scalar_t, 12, 12>::Identity();
What's the difference between your filter and MIT's filter? What variable does y represent in your program? Can you give me some advice, thanks!
It's a typo of mine, the reason the program is still working is I didn't use the foot position from the Kalman filter in other places. I fix it in the latest commit.
Hi, I have some questions about your linear kalman filter.cpp.
In Mit Cheetah program, they let $$ x = [{}^op{com}, {}^ov{com}, {}^op_i]^T $$
where represents the position of COM, the velocity of COM and the position of foot in the world frame, respectively. Therefore their c matrix is
But in your linear Kalman filter, your c matrix is
What's the difference between your filter and MIT's filter? What variable does y represent in your program? Can you give me some advice, thanks!