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Joint backward difference smoothing task maps broken #573

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wxmerkt opened this issue May 18, 2019 · 3 comments
Open

Joint backward difference smoothing task maps broken #573

wxmerkt opened this issue May 18, 2019 · 3 comments
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@wxmerkt
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wxmerkt commented May 18, 2019

There must be a bug - Vlad reported the same thing yesterday - here with a few plots:

No smoothing

20190518_velocity_without_joint_smoothing_VELOCITY

Velocity smoothing

20190518_velocity_with_joint_smoothing_VELOCITY

Acceleration smoothing

20190518_velocity_with_joint_smoothing_ACCEL

Jerk smoothing

20190518_velocity_with_joint_smoothing_JERK
@wxmerkt wxmerkt added the bug label May 18, 2019
@wxmerkt
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wxmerkt commented May 18, 2019

A clearer picture:

No smoothing

0_no_smoothing

Velocity smoothing

1_velocity

Acceleration smoothing

2_acceleration

Jerk smoothing

3_jerk

Velocity, acceleration, and jerk smoothing

4_all

@wxmerkt
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wxmerkt commented May 20, 2019

@cmower Can you please have a look at this and comment on what may be going on?

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wxmerkt commented Jun 24, 2019

@cmower Do you have any insights into what make things blow up with the backward-differencing smoothing maps?

@cmower cmower mentioned this issue Jun 25, 2019
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@wxmerkt