| commit | c2b7774e944971de75d95a59434b75e4b828d008 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Thu Nov 26 16:18:27 2015 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Thu Nov 26 16:18:29 2015 -0800 |
| tree | cdf895e245a58e8e53760d86cea53bddc658051f | |
| parent | e6df5ee5520e9fbac439f5e048ce9ac9ba17512b [diff] [blame] |
UpdateObserver now takes U as an argument. This supports running UpdateObserver without a control loop better. Change-Id: I62a304fa192604bc5b400c8bbf5191971a8534cc
diff --git a/y2015/control_loops/drivetrain/drivetrain.cc b/y2015/control_loops/drivetrain/drivetrain.cc index 22a5d48..9ed927a 100644 --- a/y2015/control_loops/drivetrain/drivetrain.cc +++ b/y2015/control_loops/drivetrain/drivetrain.cc
@@ -192,7 +192,7 @@ loop_->mutable_U().setZero(); loop_->mutable_U_uncapped().setZero(); } - loop_->UpdateObserver(); + loop_->UpdateObserver(loop_->U()); } ::Eigen::Matrix<double, 4, 1> E = loop_->R() - loop_->X_hat(); LOG_MATRIX(DEBUG, "E", E);