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Commit 51cfdfab authored by Joan Solà Ortega's avatar Joan Solà Ortega
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1 merge request!248Feature/proc motion
......@@ -44,15 +44,22 @@ void ProcessorDiffDrive::computeCurrentDelta(const Eigen::VectorXs& _data,
case DiffDriveModel::Two_Factor_Model:
std::tie(vel, J_vel_data, J_vel_calib) =
wheelPositionIncrementToVelocity<DiffDriveModel::Two_Factor_Model>(
_data, _data_cov,
intrinsics.left_radius_, intrinsics.right_radius_, intrinsics.separation_,
_calib, _dt);
_data,
_data_cov,
intrinsics.left_radius_,
intrinsics.right_radius_,
intrinsics.separation_,
_calib,
_dt);
break;
case DiffDriveModel::Three_Factor_Model:
std::tie(vel, J_vel_data, J_vel_calib) =
wheelPositionIncrementToVelocity<DiffDriveModel::Three_Factor_Model>(
_data, _data_cov,
intrinsics.left_radius_, intrinsics.right_radius_, intrinsics.separation_,
_data,
_data_cov,
intrinsics.left_radius_,
intrinsics.right_radius_,
intrinsics.separation_,
_calib, _dt);
break;
case DiffDriveModel::Five_Factor_Model:
......
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