feat(accel_map_calibrator): publish estimated covariance #2551
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Codecov ReportBase: 11.67% // Head: 11.61% // Decreases project coverage by
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## main #2551 +/- ##
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- Coverage 11.67% 11.61% -0.06%
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Files 1314 1314
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| @@ -152,6 +160,19 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod | |||
| std::copy(accel_map_value_.begin(), accel_map_value_.end(), update_accel_map_value_.begin()); | |||
| std::copy(brake_map_value_.begin(), brake_map_value_.end(), update_brake_map_value_.begin()); | |||
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| // inialize matrix for covariance calculation | |||
| { | |||
| const auto genConstMat = [](const Map & map, const auto val) { | |||
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Map -> raw_vehicle_cmd_converter::Map
Signed-off-by: takahoribe <horibe.takamasa@gmail.com>
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…ndation#2551) * add calcuration of data covariance for 4cell-calibration. * add publisher for offset_covariance. * fix publisher of offset_covariance. * refactor code Signed-off-by: takahoribe <horibe.takamasa@gmail.com> * change publisher variance to standard deviation. * fix error Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: takahoribe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: takahoribe <horibe.takamasa@gmail.com>
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…ndation#2551) * add calcuration of data covariance for 4cell-calibration. * add publisher for offset_covariance. * fix publisher of offset_covariance. * refactor code Signed-off-by: takahoribe <horibe.takamasa@gmail.com> * change publisher variance to standard deviation. * fix error Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: takahoribe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: takahoribe <horibe.takamasa@gmail.com> Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
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…ndation#2551) * add calcuration of data covariance for 4cell-calibration. * add publisher for offset_covariance. * fix publisher of offset_covariance. * refactor code Signed-off-by: takahoribe <horibe.takamasa@gmail.com> * change publisher variance to standard deviation. * fix error Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: takahoribe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: takahoribe <horibe.takamasa@gmail.com>
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Description
In order to see the quality of the calibration data, the variance (standard deviation) on each cell is calculated and published.
Note that the calculation of the standard deviation depends on the update algorithm (with a four-cell method, one data point effects on four cells stddev.).
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