def setup():
sim = PlaybackSensor("data/vehicle_state.json",
fields=["fYawrate", "fVx"],
control_fields=["fStwAng", "fAx"])
# set up kalman filter
tracker = BicycleEKF(dt)
tracker.R = sim_var + measurement_var
tracker.x = np.array([[0, 0, 1e-3]]).T
tracker.P = np.eye(3) * 500
tracker.var_steer = var_steer
tracker.var_acc = var_acc
return sim, tracker
def setup():
sim = PlaybackSensor("data/vehicle_state.json",
fields=["fYawrate", "fVx"],
control_fields=["fStwAng", "fAx"])
# set up kalman filter
tracker = BicycleEKF(dt)
tracker.R = R_proto * (sim_var + measurement_var) * \
filter_misestimation_factor
tracker.x = np.array([[0, 0, 1e-3]]).T
tracker.P = np.eye(3) * 500
# control not as accurate anymore
tracker.var_steer = 0
tracker.var_acc = 0
Q_factor = np.array(5e-7)
tracker.Q = np.diag([1, 1, 0.5] * Q_factor)
return sim, tracker
def setup():
sim = PlaybackSensor("data/vehicle_state.json",
fields=["fYawrate", "fVx"],
control_fields=["fStwAng", "fAx"])
# set up kalman filter
tracker = BicycleEKF(dt)
tracker.R = R_proto * (sim_var + measurement_var)
tracker.x = np.array([[0, 0, 1e-3]]).T
tracker.P = np.eye(3) * 500
# control not as accurate anymore
tracker.var_steer = 0.0005
tracker.var_acc = 0.5
return sim, tracker