From d79a21c0943e88883c71566ce37075417509d84a Mon Sep 17 00:00:00 2001 From: Sylvain Calinon <sylvain.calinon@gmail.com> Date: Thu, 28 Aug 2014 18:13:52 +0200 Subject: [PATCH] misc minor updates --- demo_DSGMR01.m | 6 ++---- init_tensorGMM_timeBased.m | 1 - 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/demo_DSGMR01.m b/demo_DSGMR01.m index 2cc2509..f136b69 100644 --- a/demo_DSGMR01.m +++ b/demo_DSGMR01.m @@ -29,11 +29,9 @@ model.nbStates = 3; %Number of Gaussians in the GMM model.nbFrames = 2; %Number of candidate frames of reference model.nbVar = 3; %Dimension of the datapoints in the dataset (here: t,x1,x2) model.dt = 0.01; %Time step -model.kP = 100; %Stiffness gain (required only if LQR is not used for reproduction) -model.kV = (2*model.kP)^.5; %Damping gain (required only if LQR is not used for reproduction) +model.kP = 100; %Stiffness gain +model.kV = (2*model.kP)^.5; %Damping gain nbRepros = 8; %Number of reproductions with new situations randomly generated -rFactor = 1E-1; %Weighting term for the minimization of control commands in LQR - %% Load 3rd order tensor data %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/init_tensorGMM_timeBased.m b/init_tensorGMM_timeBased.m index 15779ba..010c80b 100644 --- a/init_tensorGMM_timeBased.m +++ b/init_tensorGMM_timeBased.m @@ -1,7 +1,6 @@ function model = init_tensorGMM_timeBased(Data, model) % Author: Sylvain Calinon, 2014 % http://programming-by-demonstration.org/SylvainCalinon -% diagRegularizationFactor = 1E-4; -- GitLab