From 1b578ed351805ec7412b9b1fbdd55c0bb32ef7b1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Tue, 5 Dec 2017 23:01:28 +0100 Subject: [PATCH] Avoid local minima with lower perturbation --- src/hello_wolf/hello_wolf.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/hello_wolf/hello_wolf.cpp b/src/hello_wolf/hello_wolf.cpp index f362ac20f..f83e57247 100644 --- a/src/hello_wolf/hello_wolf.cpp +++ b/src/hello_wolf/hello_wolf.cpp @@ -166,7 +166,7 @@ int main() // PERTURB initial guess for (auto kf : problem->getTrajectoryPtr()->getFrameList()) - kf->setState(Vector3s::Random()); // We perturb A LOT ! + kf->setState(Vector3s::Random() * 0.5); // We perturb A LOT ! for (auto lmk : problem->getMapPtr()->getLandmarkList()) lmk->getPPtr()->setState(Vector2s::Random()); // We perturb A LOT ! -- GitLab