Commit 88aa92f9 authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

output convergence every calculation

parent 9e8852ee
......@@ -31,6 +31,7 @@ class Ilc_serviceproxy:
rospy.Service('~ilc_retime_if', RetimeIfILC, self.callback_ilc_retime_if)
self.folder = rospy.get_param('~folder', None)
self.iteration = 0
def decode_filename(self, filename):
name = filename
......@@ -152,6 +153,8 @@ class Ilc_serviceproxy:
ilc_lib.external_data_store(self.folder + "/ilc_data", "ilc_data", data_ilc, header)
ilc_lib.external_data_store(self.folder + "/filtered_ilc_data", "filtered_ilc_data", data_ilc_q, header)
self.iteration += 1
print("[{}] Convergence: {}".format(self.iteration, max(ilc_lib.error_convergence(self.data_diff))))
return message
......
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