Tune localizer, remove error states
Tuning constants are from whatever I was running yesterday.
More substantially, I removed the voltage error and angular error states
(during the day I had just zeroed them out on every iteration, but
actually removing them reduces the dimensionality of the EKF, which is
nice). When I looked at the log streamer when we were running the robot,
it just looked like the voltage error terms were oscillating a bit
around zero, suggesting that they were just being counterproductive.
Change-Id: I9744c4808edf3a43ae1c76d022460ee1d4c9ed3e
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.h b/y2019/control_loops/drivetrain/event_loop_localizer.h
index aaf377c..9207ec1 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.h
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.h
@@ -35,15 +35,15 @@
void Reset(const Localizer::State &state);
void ResetPosition(double x, double y, double theta) override {
+ // When we reset the state, we want to keep the encoder positions intact, so
+ // we copy from the original state and reset everything else.
Localizer::State new_state = localizer_.X_hat();
new_state.x() = x;
new_state.y() = y;
new_state(2, 0) = theta;
+ // Velocity terms.
new_state(4, 0) = 0.0;
new_state(6, 0) = 0.0;
- new_state(7, 0) = 0.0;
- new_state(8, 0) = 0.0;
- new_state(9, 0) = 0.0;
Reset(new_state);
}
@@ -64,12 +64,8 @@
double right_velocity() const override {
return localizer_.X_hat(StateIdx::kRightVelocity);
}
- double left_voltage_error() const override {
- return localizer_.X_hat(StateIdx::kLeftVoltageError);
- }
- double right_voltage_error() const override {
- return localizer_.X_hat(StateIdx::kRightVoltageError);
- }
+ double left_voltage_error() const override { return 0.0; }
+ double right_voltage_error() const override { return 0.0; }
TargetSelector *target_selector() override {
return &target_selector_;
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 8a65170..a3bf9a4 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -67,7 +67,7 @@
void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
*drivetrain_motor_plant_.mutable_state() << xytheta.x(), xytheta.y(),
xytheta(2, 0), 0.0, 0.0;
- Eigen::Matrix<double, 10, 1> localizer_state;
+ Eigen::Matrix<double, 7, 1> localizer_state;
localizer_state.setZero();
localizer_state.block<3, 1>(0, 0) = xytheta;
localizer_.Reset(localizer_state);
@@ -296,7 +296,7 @@
.Send();
RunForTime(chrono::seconds(3));
VerifyNearGoal();
- VerifyEstimatorAccurate(1e-5);
+ VerifyEstimatorAccurate(1e-4);
}
namespace {
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index 8b6f7ed..f062234 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -399,7 +399,7 @@
U(1, 0) = ::std::max(::std::min(U(1, 0), 12.0), -12.0);
state = ::frc971::control_loops::RungeKuttaU(
- [this](const ::Eigen::Matrix<double, 10, 1> &X,
+ [this](const ::Eigen::Matrix<double, 7, 1> &X,
const ::Eigen::Matrix<double, 2, 1> &U) { return DiffEq(X, U); },
state, U,
::std::chrono::duration_cast<::std::chrono::duration<double>>(
@@ -418,7 +418,7 @@
::std::pow(state(StateIdx::kRightVelocity, 0), 2)) /
3.0);
TestLocalizer::State disturbance;
- disturbance << 0.02, 0.02, 0.001, 0.03, 0.02, 0.0, 0.0, 0.0, 0.0, 0.0;
+ disturbance << 0.02, 0.02, 0.001, 0.03, 0.02, 0.0, 0.0;
disturbance *= disturbance_scale;
state += disturbance;
}
@@ -498,11 +498,9 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/false,
@@ -514,11 +512,9 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/false,
@@ -529,11 +525,9 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/true,
/*disturb=*/false,
@@ -544,26 +538,9 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0)
- .finished(),
- /*noisify=*/false,
- /*disturb=*/false,
- /*estimate_tolerance=*/1e-4,
- /*goal_tolerance=*/2e-2,
- }),
- // Repeats perfect scenario, but add voltage + angular errors:
- LocalizerTestParams({
- /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
- /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
- 0.5, 0.02)
- .finished(),
- (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0)
+ (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/false,
@@ -574,11 +551,9 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/false,
/*disturb=*/true,
@@ -589,16 +564,14 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
/*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
- (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.1, -5.1, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.1, -5.1, 0.03, 0.0, 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/true,
/*disturb=*/true,
/*estimate_tolerance=*/0.15,
- /*goal_tolerance=*/0.5,
+ /*goal_tolerance=*/0.8,
}),
// Try another spline, just in case the one I was using is special for
// some reason; this path will also go straight up to a target, to
@@ -606,11 +579,9 @@
LocalizerTestParams({
/*control_pts_x=*/{{0.5, 3.5, 4.0, 8.0, 11.0, 10.2}},
/*control_pts_y=*/{{1.0, 1.0, -3.0, -2.0, -3.5, -3.65}},
- (TestLocalizer::State() << 0.6, 1.01, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.6, 1.01, 0.01, 0.0, 0.0, 0.0, 0.0)
.finished(),
- (TestLocalizer::State() << 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0)
+ (TestLocalizer::State() << 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0)
.finished(),
/*noisify=*/true,
/*disturb=*/false,