From 3481cc8ca1aa3fe652659d6ee2ba96153668f4c5 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Thu, 19 Aug 2021 11:11:15 +0200
Subject: [PATCH] Remove data fields related to the Kalman filter of the
estimator (unused)
---
scripts/LoggerControl.py | 9 ---------
1 file changed, 9 deletions(-)
diff --git a/scripts/LoggerControl.py b/scripts/LoggerControl.py
index 6ed7d23d..ff467175 100644
--- a/scripts/LoggerControl.py
+++ b/scripts/LoggerControl.py
@@ -40,9 +40,6 @@ class LoggerControl():
self.esti_LP_alpha = np.zeros([logSize, 3]) # alpha parameter of the position complementary filter
self.esti_LP_filt_x = np.zeros([logSize, 3]) # filtered output of the position complementary filter
- self.esti_kf_X = np.zeros([logSize, 18]) # state of the Kalman filter
- self.esti_kf_Z = np.zeros([logSize, 16]) # measurement for the Kalman filter
-
# Loop
self.loop_o_q_int = np.zeros([logSize, 18]) # position in world frame (esti_q_filt + dt * loop_o_v)
self.loop_o_v = np.zeros([logSize, 18]) # estimated velocity in world frame
@@ -690,9 +687,6 @@ class LoggerControl():
esti_LP_alpha=self.esti_LP_alpha,
esti_LP_filt_x=self.esti_LP_filt_x,
- esti_kf_X=self.esti_kf_X,
- esti_kf_Z=self.esti_kf_Z,
-
loop_o_q_int=self.loop_o_q_int,
loop_o_v=self.loop_o_v,
loop_h_v=self.loop_h_v,
@@ -784,9 +778,6 @@ class LoggerControl():
self.esti_LP_alpha = data["esti_LP_alpha"]
self.esti_LP_filt_x = data["esti_LP_filt_x"]
- self.esti_kf_X = data["esti_kf_X"]
- self.esti_kf_Z = data["esti_kf_Z"]
-
self.loop_o_q_int = data["loop_o_q_int"]
self.loop_o_v = data["loop_o_v"]
self.loop_h_v = data["loop_h_v"]
--
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