{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/QA/issues/154","repository_url":"https://api.github.com/repos/robotology/QA","labels_url":"https://api.github.com/repos/robotology/QA/issues/154/labels{/name}","comments_url":"https://api.github.com/repos/robotology/QA/issues/154/comments","events_url":"https://api.github.com/repos/robotology/QA/issues/154/events","html_url":"https://github.com/robotology/QA/issues/154","id":185956053,"number":154,"title":"Factor of 1.5 between errors from iPidControl::getErrors and actual errors","user":{"login":"hu-yue","id":7060968,"avatar_url":"https://avatars.githubusercontent.com/u/7060968?v=3","gravatar_id":"","url":"https://api.github.com/users/hu-yue","html_url":"https://github.com/hu-yue","followers_url":"https://api.github.com/users/hu-yue/followers","following_url":"https://api.github.com/users/hu-yue/following{/other_user}","gists_url":"https://api.github.com/users/hu-yue/gists{/gist_id}","starred_url":"https://api.github.com/users/hu-yue/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hu-yue/subscriptions","organizations_url":"https://api.github.com/users/hu-yue/orgs","repos_url":"https://api.github.com/users/hu-yue/repos","events_url":"https://api.github.com/users/hu-yue/events{/privacy}","received_events_url":"https://api.github.com/users/hu-yue/received_events","type":"User","site_admin":false},"labels":[{"id":165373199,"url":"https://api.github.com/repos/robotology/QA/labels/hardware","name":"hardware","color":"0052cc","default":false},{"id":165373917,"url":"https://api.github.com/repos/robotology/QA/labels/software","name":"software","color":"0052cc","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2016-10-28T15:44:10Z","updated_at":"2016-10-28T16:03:04Z","closed_at":null,"body":"Hi,\r\n\r\nI recorded the data from `iPidControl::getErrors` and then also data from `iEncoders`, then I computed the errors by `qdes-iEncoders`. I have realised that the errors from `iPidControl::getErrors` are of a factor of circa `1.5` smaller than the ones I computed. By dividing `qdes-iEncoders` by `1.5` they are basically the same as the ones from `iPidControl::getErrors`.\r\nSee plots below:\r\nIn blue errors from `iPidControl::getErrors` and in red `qdes-iEncoders`:\r\n![error1](https://cloud.githubusercontent.com/assets/7060968/19812417/afad7e0a-9d35-11e6-8f38-69af27315d33.png)\r\n\r\nIn blue errors from `iPidControl::getErrors` and in red `(qdes-iEncoders)/1.5`:\r\n![error2](https://cloud.githubusercontent.com/assets/7060968/19812420/b4fdce50-9d35-11e6-9411-6822e3b69004.png)\r\n\r\nI thought that the errors from `iPidControl::getErrors` are the tracking errors, as this is also what he `controlBoardDumper` uses to return the position errors.\r\nThe questions are: am I doing something wrong? Or is this factor really there? And if yes, what is it and why?\r\n\r\nThanks!"},"comment":{"url":"https://api.github.com/repos/robotology/QA/issues/comments/256960108","html_url":"https://github.com/robotology/QA/issues/154#issuecomment-256960108","issue_url":"https://api.github.com/repos/robotology/QA/issues/154","id":256960108,"user":{"login":"hu-yue","id":7060968,"avatar_url":"https://avatars.githubusercontent.com/u/7060968?v=3","gravatar_id":"","url":"https://api.github.com/users/hu-yue","html_url":"https://github.com/hu-yue","followers_url":"https://api.github.com/users/hu-yue/followers","following_url":"https://api.github.com/users/hu-yue/following{/other_user}","gists_url":"https://api.github.com/users/hu-yue/gists{/gist_id}","starred_url":"https://api.github.com/users/hu-yue/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hu-yue/subscriptions","organizations_url":"https://api.github.com/users/hu-yue/orgs","repos_url":"https://api.github.com/users/hu-yue/repos","events_url":"https://api.github.com/users/hu-yue/events{/privacy}","received_events_url":"https://api.github.com/users/hu-yue/received_events","type":"User","site_admin":false},"created_at":"2016-10-28T16:03:04Z","updated_at":"2016-10-28T16:03:04Z","body":"@traversaro these specific plots are for the left ankle roll, however I get the same also on left knee and right knee, I can also test other joints."}}
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