Skip to content
Snippets Groups Projects
Commit 107023c3 authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Set time tolerance to suit experiment requirements

parent b4f26351
No related branches found
No related tags found
1 merge request!172Set time tolerance to suit experiment requirements
Pipeline #
...@@ -187,10 +187,17 @@ int main(int argc, char** argv) ...@@ -187,10 +187,17 @@ int main(int argc, char** argv)
intrinsics_diff_drive->left_gain_ = 0.01; intrinsics_diff_drive->left_gain_ = 0.01;
intrinsics_diff_drive->right_gain_ = 0.01; intrinsics_diff_drive->right_gain_ = 0.01;
// Time and data variables
TimeStamp t;
Scalar stamp_secs(0);
// Scalar period_secs(0.010); //100Hz
Scalar period_secs(0.020); //50Hz
Eigen::Vector2s data_; data_ << 0,0;
const auto scalar_max = std::numeric_limits<Scalar>::max(); const auto scalar_max = std::numeric_limits<Scalar>::max();
ProcessorParamsBasePtr processor_params = ProcessorParamsBasePtr processor_params =
std::make_shared<ProcessorParamsDiffDrive>(0.01, scalar_max, scalar_max, scalar_max); std::make_shared<ProcessorParamsDiffDrive>(period_secs/2, scalar_max, scalar_max, scalar_max);
SensorBasePtr sensor_ptr = SensorBasePtr sensor_ptr =
wolf_problem_ptr_->installSensor("DIFF DRIVE", sensor_name, extrinsics, intrinsics); wolf_problem_ptr_->installSensor("DIFF DRIVE", sensor_name, extrinsics, intrinsics);
...@@ -203,13 +210,6 @@ int main(int argc, char** argv) ...@@ -203,13 +210,6 @@ int main(int argc, char** argv)
WOLF_INFO("Processor 'DIFF DRIVE' installed."); WOLF_INFO("Processor 'DIFF DRIVE' installed.");
// Time and data variables
TimeStamp t;
Scalar stamp_secs(0);
// Scalar period_secs(0.010); //100Hz
Scalar period_secs(0.020); //50Hz
Eigen::Vector2s data_; data_ << 0,0;
// Get initial wheel data // Get initial wheel data
if (WHEEL_DATA) if (WHEEL_DATA)
readWheelData(data_file, data_); readWheelData(data_file, data_);
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment