From 4ac8a6a670c2e27d57a642446aeb942f70254513 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 25 Oct 2016 12:48:50 +0200
Subject: [PATCH] Tune odom 3d params in yaml file
---
src/examples/odom_3D.yaml | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/examples/odom_3D.yaml b/src/examples/odom_3D.yaml
index fecf452a4..c05a9f7b0 100644
--- a/src/examples/odom_3D.yaml
+++ b/src/examples/odom_3D.yaml
@@ -1,9 +1,9 @@
sensor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
motion variances:
- disp_to_disp: 0.1 # m^2 / m
+ disp_to_disp: 0.2 # m^2 / m
disp_to_rot: 0.2 # rad^2 / m
- rot_to_rot: 0.3 # rad^2 / rad
- min_disp_var: 0.4 # m^2
- min_rot_var: 0.5 # rad^2
+ rot_to_rot: 0.1 # rad^2 / rad
+ min_disp_var: 0.1 # m^2
+ min_rot_var: 0.1 # rad^2
\ No newline at end of file
--
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