only allocate estimator memory when estimator_enabled=true

MyelinsheathXD · Jan 15, 2024 · 5b63551 · 5b63551
1 parent 64afbaa
commit 5b63551
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/mjpc/agent.cc b/mjpc/agent.cc
@@ -105,7 +105,7 @@ void Agent::Initialize(const mjModel* model) {
   state.Initialize(model);
 
   // initialize estimator
-  if (reset_estimator) {
+  if (reset_estimator && estimator_enabled) {
     for (const auto& estimator : estimators_) {
       estimator->Initialize(model_);
       estimator->Reset();
@@ -169,7 +169,7 @@ void Agent::Reset(const double* initial_repeated_action) {
   state.Reset();
 
   // estimator
-  if (reset_estimator) {
+  if (reset_estimator && estimator_enabled) {
     for (const auto& estimator : estimators_) {
       estimator->Reset();
     }

diff --git a/mjpc/estimators/batch.h b/mjpc/estimators/batch.h
@@ -32,7 +32,7 @@
 namespace mjpc {
 
 // max filter history
-inline constexpr int kMaxFilterHistory = 128;
+inline constexpr int kMaxFilterHistory = 64;
 
 // ----- batch estimator ----- //
 // based on: "Physically-Consistent Sensor Fusion in Contact-Rich Behaviors"