An improvement to OPR

[Ether]

Originally Posted by Frenchie461

it should be computationally faster than a pair of OPR calculations.

In the formula for OPR, namely [A][OPR]~[SCORE], [OPR] and [SCORE] need not be vectors - they can be matrices.

So instead of [OPR] being a Nx1 column vector, it can be an Nx2 matrix... and [SCORE] can be a (2M)x2 matrix.

The first column of [OPR] and [SCORE] can then be for TeleOp, and the second column for Autonomous.

This can be extended to any desired number of columns. For example use 4 columns for TeleOp, Autonomous, Climb, and Foul points.

Adding extra columns to [OPR] and [SCORE] increases the computation time only minimally, since the lion's share of the computation is spent factoring [A]^T[A].