Comparison of estimate of inertial parameters on iCub arm

icub_right_arm_inertial_estimation.m

#load pls and pca result
b = load("testb.csv");

n_samples = size(b,1)/6;

bm = reshape(b',6,n_samples)';

b_pca = load("hatb_opt_pca_val.csv");

n_samples = size(b_pca,1)/6;

bm_pca = reshape(b_pca',6,n_samples)';

b_pls = load("hatb_opt_pls_val.csv");

n_samples = size(b_pls,1)/6;

bm_pls = reshape(b_pls',6,n_samples)';

#load own result
beta = load("beta.csv");
id_param = load("identifiable_parameters.csv");

beta_all(1:40) = id_param*beta(1:33);
beta_all(41:46) = beta(34:39);

testA = load("testA.csv");

b_rls = testA*beta_all';
n_samples = size(b_rls,1)/6;
bm_rls = reshape(b_rls',6,n_samples)';

mse_pca = mean((bm-bm_pca).*(bm-bm_pca));
mse_pls = mean((bm-bm_pls).*(bm-bm_pls))
mse_rls = mean((bm-bm_rls).*(bm-bm_rls))