cleanup of RobotStateMap led to clearer understanding of LidarProcessor requirements. #7
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
pietroglyph
reviewed
Dec 31, 2018
| new Transform(lastPose).inverse(), // ie: LidarToField | ||
| mReferenceModel); // mReferenceMode in field coords | ||
| Twist2d fwdK = Pose2d.log(xform.inverse().toPose2d()); | ||
| poseEstimate = lastPose.transformBy(Pose2d.exp(fwdK)); |
There was a problem hiding this comment.
Nitpick: I think we could reduce how much we operate on what gets integrated into pose here, to reduce accumulation of floating point errors. Maybe:
Pose2d xform = mICP.doICP(getCulledPoints(scan),
new Transform(lastPose).inverse(),
mReferenceModel).inverse().toPose2d();
poseEstimate = lastPose.transformBy(xform);
velMeasured = Pose2d.log(xform);There was a problem hiding this comment.
i believe the exp is actually needed, since it moves along an arg, whereas xform is a linear transformation.
There was a problem hiding this comment.
Aren't the inverses? So shouldn't Pose2d.exp(Pose2d.log(xform.inverse().toPose2d())) == xform.inverse().toPose2d()?
pietroglyph
reviewed
Dec 31, 2018
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
(still need to debug the LidarProcessor, but it's now much more like the Encoder variant)