[hrsi_representation] Adding correct smoothing and unittest #131
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The test passed but maybe @marc-hanheide can have a look if it is in the right location or if my test are flawed in general. |
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nope... I think I found the culprit: ros/catkin#728 ... they have destroyed our setup by changing catkin and rostest |
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Again a patch that breaks our system... But at least it's not my fault 😁 |
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Is this OK to merge then? No one uses this so far and the test passes. |
marc-hanheide
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Jun 18, 2015
[hrsi_representation] Adding correct smoothing and unittest
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As the title says, this adds a unittest and improvements to everything that proved to be faulty running the unittest.
Smoothing: Has been done via a simple sleep, now handled correctly by creating the mean over the poses received during the smoothing interval
Decay: Now uses the message times instead of
time.nowwhich allows to use this on bags and the live system. Since the ppl tracker publishes continuously, this shouldn't present a problem. Decay is not a vital function in the first place anyway.General processing: The qsr_lib qtc request is too slow to work in real-time let alone with sped up bag replay. Therefore, the processing has been moved to a separate thread which runs at 30Hz by default (60Hz for the sped up test)