def setup(): sim = PlaybackSensor("data/vehicle_state_adenauer.json", fields=["fYawrate", "fVx"], control_fields=["fStwAng", "fAx"]) # set up kalman filter tracker = BicycleUKF(dt) Q_factor = np.array(1e-5) tracker.Q = np.diag([1, 1, 1] * Q_factor) tracker.R = R_proto * (sim_var + measurement_var) * 1 tracker.x = np.array([0, 0, 1]).T tracker.P = np.eye(3) * 1e0 return sim, tracker
def setup(): sim = PlaybackSensor("data/vehicle_state.json", fields=["fYawrate", "fVx"], control_fields=["fStwAng", "fAx"]) # set up kalman filter tracker = BicycleUKF(dt) Q_factor = np.array(5e-7) tracker.Q = np.diag([1, 1, 0.5] * Q_factor) tracker.R = R_proto * (sim_var) * filter_misestimation_factor tracker.x = np.array([0, 0, 1]).T tracker.P = np.eye(3) * 1e0 return sim, tracker