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Commit 283c3af2 authored by Idril-Tadzio Geer Cousté's avatar Idril-Tadzio Geer Cousté
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Merge branch 'devel' of...

Merge branch 'devel' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu into processor_imu2d
parents 6595a274 30a1ed21
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3 merge requests!39release after RAL,!38After 2nd RAL submission,!23Processor imu2d
......@@ -28,7 +28,8 @@ void ProcessorCompass::processCapture(CaptureBasePtr _capture)
}
// Otherwise: store capture
// Note that more than one processor can be emplacing frames, so an older frame can arrive later than this one.
buffer_capture_.add(_capture->getTimeStamp(), _capture);
else
buffer_capture_.add(_capture->getTimeStamp(), _capture);
}
void ProcessorCompass::processKeyFrame(FrameBasePtr _frame, const double& _time_tolerance)
......
......@@ -44,9 +44,9 @@ void generateRandomSetup()
// Random states
frm_p = Vector3d::Random() * 10;
frm_q = Quaterniond(Vector4d::Random().normalized());
frm_q = Quaterniond::UnitRandom();
sen_p = Vector3d::Random() * 10;
sen_q = Quaterniond(Vector4d::Random().normalized());
sen_q = Quaterniond::UnitRandom();
sen_bias = Vector3d::Random();
field = Vector3d::Random().normalized() * 50;
......
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