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Commit cc7f2416 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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bug fixed: changed enum for frame types FRM_PO_2D instead of PO_2D

parent 18db640b
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...@@ -172,8 +172,8 @@ int main(int argc, char *argv[]) ...@@ -172,8 +172,8 @@ int main(int argc, char *argv[])
ground_truth.head(3) = pose_odom; ground_truth.head(3) = pose_odom;
odom_trajectory.head(3) = pose_odom; odom_trajectory.head(3) = pose_odom;
WolfManager* wolf_manager_QR = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01); WolfManager* wolf_manager_QR = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01);
WolfManager* wolf_manager_ceres = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01); WolfManager* wolf_manager_ceres = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01);
// Ceres initialization // Ceres initialization
ceres::Solver::Options ceres_options; ceres::Solver::Options ceres_options;
......
...@@ -130,8 +130,8 @@ int main(int argc, char** argv) ...@@ -130,8 +130,8 @@ int main(int argc, char** argv)
ground_truth.head(3) = pose_odom; ground_truth.head(3) = pose_odom;
odom_trajectory.head(3) = pose_odom; odom_trajectory.head(3) = pose_odom;
WolfManager* wolf_manager_ceres = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); WolfManager* wolf_manager_ceres = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
WolfManager* wolf_manager_wolf = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); WolfManager* wolf_manager_wolf = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
// Ceres wrapper // Ceres wrapper
ceres::Solver::Options ceres_options; ceres::Solver::Options ceres_options;
......
...@@ -127,7 +127,7 @@ int main(int argc, char** argv) ...@@ -127,7 +127,7 @@ int main(int argc, char** argv)
ground_truth.head(3) = pose_odom; ground_truth.head(3) = pose_odom;
odom_trajectory.head(3) = pose_odom; odom_trajectory.head(3) = pose_odom;
WolfManager* wolf_manager = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); WolfManager* wolf_manager = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3);
// Ceres wrapper // Ceres wrapper
ceres::Solver::Options ceres_options; ceres::Solver::Options ceres_options;
......
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