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Estimate touch force #25

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modify bounds for optimization
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Safeea, Mohammad committed Nov 4, 2024
commit 092853bfe0a2dc35352eb93488a136f56079f5c1
6 changes: 4 additions & 2 deletions Matlab_client/gen_estimateTouchForcePosition_1.m
Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,10 @@

% Define cost function for optimization
fun = @(var_force_x) costFunction(a, d, alfa, TefTool, q, first_frame_index, second_frame_index, taw, var_force_x);
lb = -100 * ones(4, 1);
ub = 100 * ones(4, 1);
% touch force component from -50 N to 50 N
lb = -50 * ones(4, 1);
ub = 50 * ones(4, 1);
lb(4)=0; ub(4)=1; % x from zero to one
seed = zeros(4, 1);

% Run optimization
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