added ticks_cov_factor parameter

include/core/sensor/sensor_diff_drive.h

@@ -23,6 +23,7 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
     double          ticks_per_wheel_revolution;
     bool            set_intrinsics_prior;
     Eigen::Vector3d prior_cov_diag;
+    double          ticks_cov_factor;
 
     IntrinsicsDiffDrive() = default;
     IntrinsicsDiffDrive(std::string _unique_name, const wolf::ParamsServer& _server)
@@ -34,19 +35,19 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
         ticks_per_wheel_revolution = _server.getParam<double>(prefix + _unique_name + "/ticks_per_wheel_revolution");
         set_intrinsics_prior       = _server.getParam<bool>(prefix + _unique_name + "/set_intrinsics_prior");
         prior_cov_diag             = _server.getParam<Eigen::Vector3d>(prefix + _unique_name + "/prior_cov_diag");
-
-        }
-        std::string print() const
-        {
-            return "\n" + IntrinsicsBase::print()                                           + "\n"
-            + "radius_left: "                   + std::to_string(radius_left)               + "\n"
-            + "radius_right: "                  + std::to_string(radius_right)              + "\n"
-            + "wheel_separation: "              + std::to_string(wheel_separation)          + "\n"
-            + "ticks_per_wheel_revolution: "    + std::to_string(ticks_per_wheel_revolution)+ "\n"
-            + "set_intrinsics_prior: "          + std::to_string(set_intrinsics_prior)      + "\n"
-            + "prior_cov_diag:  to_string not implemented yet! \n";
-        }
-
+        ticks_cov_factor           = _server.getParam<double>(prefix + _unique_name + "/ticks_cov_factor");
+    }
+    std::string print() const
+    {
+        return "\n" + IntrinsicsBase::print()                                           + "\n"
+        + "radius_left: "                   + std::to_string(radius_left)               + "\n"
+        + "radius_right: "                  + std::to_string(radius_right)              + "\n"
+        + "wheel_separation: "              + std::to_string(wheel_separation)          + "\n"
+        + "ticks_per_wheel_revolution: "    + std::to_string(ticks_per_wheel_revolution)+ "\n"
+        + "set_intrinsics_prior: "          + std::to_string(set_intrinsics_prior)      + "\n"
+        + "prior_cov_diag:  to_string not implemented yet! \n"
+        + "ticks_cov_factor: "              + std::to_string(ticks_cov_factor)          + "\n";
+    }
 };
 
 WOLF_PTR_TYPEDEFS(SensorDiffDrive);