Add example data mpc test

StanfordASL · Feb 13, 2025 · aee3e4d · aee3e4d
1 parent e0e8875
commit aee3e4d
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Showing 3 changed files with 2 additions and 2 deletions.
diff --git a/stack/main/data/trajectories/test_mpc/empty.csv b/stack/main/data/trajectories/test_mpc/empty.csv
diff --git a/stack/main/scripts/visualize_mpc_test.ipynb b/stack/main/scripts/visualize_mpc_test.ipynb
diff --git a/stack/main/src/executor/executor/test_mpc_node.py b/stack/main/src/executor/executor/test_mpc_node.py
@@ -156,7 +156,7 @@ def service_callback(self, async_response):
         except Exception as e:
             self.get_logger().error(f'Service call failed: {e}.')
 
-    def update_observations(self, t0, eps=1e-4):
+    def update_observations(self, t0, eps_noise=1e-4):
         """
         Update the latest observations using predicted observations from MPC plus added noise.
         """
@@ -165,7 +165,7 @@ def update_observations(self, t0, eps=1e-4):
         y_predicted = self.zopt[:idx0+1]
 
         # Add noise to simulate real experiment
-        y_centered_tip = y_predicted + eps * jax.random.normal(key=self.rnd_key, shape=y_predicted.shape)
+        y_centered_tip = y_predicted + eps_noise * jax.random.normal(key=self.rnd_key, shape=y_predicted.shape)
         N_new_obs = y_centered_tip.shape[0]
 
         # Update tracked observation