Merge branch 'devel' into 'master'

new release

See merge request !33

README.md

-WOLF - Windowed Localization Frames | Laser Plugin
-===================================
+WOLF Laser Plugin
+=================
 
-For installation guide and code documentation, please visit the [documentation website](http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/wolf_lib/wolf-doc-sphinx/).
+For installation guide and code documentation, please visit the [documentation website](http://www.iri.upc.edu/wolf).

include/laser/processor/params_icp.h

@@ -77,6 +77,7 @@ struct ParamsIcp
 
         icp_params.do_compute_covariance        = _server.getParam<bool>   (_prefix_and_unique_name + "/icp/do_compute_covariance");
         icp_params.cov_factor                   = _server.getParam<double> (_prefix_and_unique_name + "/icp/cov_factor");
+        icp_params.cov_max_eigv_factor          = _server.getParam<double> (_prefix_and_unique_name + "/icp/cov_max_eigv_factor");
     }
 
     std::string print() const
@@ -110,7 +111,8 @@ struct ParamsIcp
               + "/icp/use_sigma_weights"            + std::to_string(icp_params.use_sigma_weights)              + "\n"
               + "/icp/sigma"                        + std::to_string(icp_params.sigma)                          + "\n"
               + "/icp/do_compute_covariance"        + std::to_string(icp_params.do_compute_covariance)          + "\n"
-              + "/icp/cov_factor"                   + std::to_string(icp_params.cov_factor)                     + "\n";
+              + "/icp/cov_factor"                   + std::to_string(icp_params.cov_factor)                     + "\n"
+              + "/icp/cov_max_eigv_factor"          + std::to_string(icp_params.cov_max_eigv_factor)            + "\n";
     }
 };
 

test/gtest_processor_loop_closure_icp.cpp

@@ -66,6 +66,7 @@ class ProcessorLoopClosureIcp_Test : public testing::Test
             params->icp_params.outliers_adaptive_mult       = 2;
             params->icp_params.do_compute_covariance        = true;
             params->icp_params.cov_factor                   = 1;
+            params->icp_params.cov_max_eigv_factor          = 1;
             params->icp_params.max_angular_correction_deg   = 1.5;
             params->icp_params.max_linear_correction        = 10;
             params->icp_params.epsilon_xy                   = 0.01;

test/yaml/params_processor_loop_closure_falko.yaml

@@ -58,6 +58,7 @@
           outliers_adaptive_mult:              1.5
           do_compute_covariance:               true
           cov_factor:                          1
+          cov_max_eigv_factor:                 5
 
           max_angular_correction_deg:          4
           max_linear_correction:               10