24 lines
1.1 KiB
Mathematica
24 lines
1.1 KiB
Mathematica
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% ------------------------------------------------------------------------
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% Set limits on posistion and velocities
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% ------------------------------------------------------------------------
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q_min = -pi*ones(ndof,1);
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q_max = pi*ones(ndof,1);
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qd_max = 3*pi*ones(ndof,1);
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q2d_max = 6*pi*ones(ndof,1);
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% -----------------------------------------------------------------------
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% Find relation between independent columns and dependent columns
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% -----------------------------------------------------------------------
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% Get observation matrix of identifiable paramters
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for j = 1:robot.ndof
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W = [];
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for i = 1:25
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q_rnd = q_min + (q_max - q_min).*rand(ndof,1);
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qd_rnd = -qd_max + 2*qd_max.*rand(ndof,1);
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q2d_rnd = -q2d_max + 2*q2d_max.*rand(ndof,1);
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standard_regressor_func = sprintf('standard_regressor_%s',opt.robotName);
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Y = feval(standard_regressor_func, q_rnd,qd_rnd,q2d_rnd);
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W = vertcat(W,Y(j,:));
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end
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% matrix W has rank qr_rank which is number number of base parameters
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robot.baseQR.rank(i) = rank(W);
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end
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