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