Commit 8fd6a0a4 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Added harcoded minimum road length

parent fab69366
......@@ -94,6 +94,7 @@ bool AdcLandmarksSlamSolverAlgorithm::load_from_xodr(const std::string& _landmar
TOpendriveWorldPose world;
try{
road.set_scale_factor(_scale);
road.set_min_road_length(0.01);
road.load(_landmarks_file);
std::map<double, LandmarkInfo>().swap(this->landmarks_);
......@@ -441,4 +442,4 @@ void AdcLandmarksSlamSolverAlgorithm::add_newest_frame_to_ceres(bool _estimated_
ceres::CostFunction* cost_function = new ceres::AutoDiffCostFunction<EstimatedPoseResidual2D, 3, 3>(new EstimatedPoseResidual2D(this->frames_data_.back().robot_state, this->config_.amcl_pose_estimated_sigma, this->config_.amcl_pose_estimated_sigma, this->config_.amcl_pose_estimated_sigma));
this->problem_.AddResidualBlock(cost_function, NULL, this->frames_data_.back().robot_state.data());
}
}
\ No newline at end of file
}
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