From 107023c31e75a99608449ed6e741d485f3673bc5 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 12 Mar 2018 11:16:23 +0100
Subject: [PATCH] Set time tolerance to suit experiment requirements
---
src/examples/test_diff_drive.cpp | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/src/examples/test_diff_drive.cpp b/src/examples/test_diff_drive.cpp
index d4c0a3460..acd78de25 100644
--- a/src/examples/test_diff_drive.cpp
+++ b/src/examples/test_diff_drive.cpp
@@ -187,10 +187,17 @@ int main(int argc, char** argv)
intrinsics_diff_drive->left_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();
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 =
wolf_problem_ptr_->installSensor("DIFF DRIVE", sensor_name, extrinsics, intrinsics);
@@ -203,13 +210,6 @@ int main(int argc, char** argv)
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
if (WHEEL_DATA)
readWheelData(data_file, data_);
--
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