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 !
 
-- 
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