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fix(crane_world_model_publisher): グローバル減速度最適化の初速度推定を制約付き回帰に修正 #1393

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fix(crane_world_model_publisher): グローバル減速度最適化の初速度推定を制約付き回帰に修正 #1393

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17 changes: 7 additions & 10 deletions crane_world_model_publisher/src/calibration/simple_ball_physics_optimizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -328,18 +328,15 @@ auto SimpleBallPhysicsOptimizer::optimizeGlobalDeceleration(
if (trajectory.time_points.size() < config_.min_data_points_per_trajectory) continue;

// 固定減速度を仮定した初速度推定（v(t) = v0 - decel * t）
// 線形回帰で v0 を求める: velocities = v0 - decel * time_points
std::vector<double> expected_velocities;
// 傾きを -decel に固定したモデルの最適 v0 は残差 (v + decel * t) の平均で与えられる。
// 自由回帰の切片を使うと傾きが 1 に固定されず v0 が候補 decel と無関係な定数になり、
// 各 decel 候補の RMSE 評価が歪んでグローバル減速度選定がバイアスするため、
// 制約付き（固定傾き）推定 v0 = mean(v + decel * t) を用いる。
double v0_sum = 0.0;
for (size_t i = 0; i < trajectory.time_points.size(); ++i) {
expected_velocities.push_back(-decel * trajectory.time_points[i]); // -decel * t の部分
v0_sum += trajectory.velocities[i] + decel * trajectory.time_points[i];
}

// velocities - expected_velocities = v0 (定数) を線形回帰で求める
auto [slope, intercept, r_squared] =
performLinearRegression(expected_velocities, trajectory.velocities);

// slope は 1 に近く、intercept が推定初速度 v0
double estimated_v0 = intercept;
double estimated_v0 = v0_sum / trajectory.time_points.size();

// 固定減速度モデルでの予測誤差を計算
double rmse = 0.0;
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