Changed persistance by persistence

README.md

@@ -10,7 +10,7 @@ The following image is a basic representation of the slam problem. Is a sequence
 
 <img src="doc/images/slam_problem_sketch.png" alt="Image: Slam problem overview">
 
-When searching for new landmarks, there is a landmark time persistance filter that checks that a landmark is seen enough times on the same location before adding it as a mapped landmarks. An orientation filter can be enabled to check that it has a similar orientation on each detection.
+When searching for new landmarks, there is a landmark time persistence filter that checks that a landmark is seen enough times on the same location before adding it as a mapped landmarks. An orientation filter can be enabled to check that it has a similar orientation on each detection.
 
 To match a detection with a landmark the [Mahalanobis distance](https://en.wikipedia.org/wiki/Mahalanobis_distance) is used. Basically, a match between a detection and a landmark is done when the detection is inside an ellipse centered on the landmark. The ellipse is defined by the sensor noise and the mahalanobis distance parameter.
 
@@ -59,7 +59,7 @@ If the lanmarks are loaded from the xodr file, *load_landmarks_from_xodr* parame
 - ~**init_pose_covariance** (Double; default: 0.01; min: 0.00001; max: 0.1) Initial pose covariance. 
 ##### Landmark candidates filter
 - ~**landmarks_candidates_filter_en** (Boolean; default: False) Boolean to filter landmarks checking if it's a feature on the following scans before adding it as landmark.  
-- ~**landmarks_filter_orientation_en** (Boolean; default: False) Boolean to add orientation filter to landmarks time persistance filter.  
+- ~**landmarks_filter_orientation_en** (Boolean; default: False) Boolean to add orientation filter to landmarks time persistence filter.  
 - ~**landmark_mahalanobis_dist** (Double; default: 2.0; min: 0.01; max: 20.0) Mahalonibis distance parameter. 
 - ~**landmarks_min_detections** (Integer; default: 3; min: 1; max: 30) The number of detections on a row to trust it as a new landmark.
 - ~**landmarks_orientation_th** (Double; default: 0.4; min: 0.01; max: 0.8) Maximum orientation diff from the last detection on following inputs. 

cfg/AdcLandmarksSlamSolver.cfg

@@ -60,7 +60,7 @@ gen.add("err_msg_rate",                       double_t,     0,           "Rate t
 gen.add("init_pose_covariance",               double_t,     0,           "Initial pose covariance",                                                   0.25, 0.1, 1.0)
 
 landmarks.add("landmarks_candidates_filter_en",   bool_t,       0,           "Boolean to filter landmarks checking if it's a feature on the followings scans before adding it as landmark",   False)
-landmarks.add("landmarks_filter_orientation_en",  bool_t,       0,           "Boolean to add orientation filter to time persistance filter",                                                  False)
+landmarks.add("landmarks_filter_orientation_en",  bool_t,       0,           "Boolean to add orientation filter to time persistence filter",                                                  False)
 landmarks.add("landmark_mahalanobis_dist",        double_t,     0,           "Mahalonibis distance parameter",                                                                                2.0, 0.01, 20.0)
 landmarks.add("landmarks_min_detections",         int_t,        0,           "The number of detections on a row to trust it as a landmark",                                                   3, 1, 30)
 landmarks.add("landmarks_orientation_th",         double_t,     0,           "Maximum orientation diff from the last detection on following inputs",                                          0.4, 0.01, 0.8)