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Commit cebc8da0 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Formatting and doc

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......@@ -100,7 +100,7 @@ int main()
* - Second, using random values
* Both solutions must produce the same exact values as in the sketches above.
*
* Optionally, the user can opt to self-calibrate the sensor's orientation (see NOTE within the code around Line 142)
* Optionally, the user can opt to self-calibrate the sensor's orientation (see NOTE within the code around Line 151)
*
* (c) 2017 Joan Sola @ IRI-CSIC
*/
......@@ -137,20 +137,23 @@ int main()
intrinsics_rb->noise_bearing_degrees_std = 1.0;
SensorBasePtr sensor_rb = problem->installSensor("RANGE BEARING", "sensor RB", Vector3s(1,1,0), intrinsics_rb);
// processor Range and Bearing
ProcessorParamsRangeBearingPtr params_rb = std::make_shared<ProcessorParamsRangeBearing>();
params_rb->voting_active = false;
params_rb->time_tolerance = 0.01;
ProcessorBasePtr processor_rb = problem->installProcessor("RANGE BEARING", "processor RB", sensor_rb, params_rb);
// SELF CALIBRATION ===================================================
// NOTE: SELF-CALIBRATION OF SENSOR ORIENTATION
// Uncomment this line below to achieve sensor self-calibration (of the orientation only, since the position is not observable)
// sensor_rb->getOPtr()->unfix();
sensor_rb->getOPtr()->unfix();
// NOTE: SELF-CALIBRATION OF SENSOR POSITION
// The position is however not observable, and thus self-calibration would not work. You can try uncommenting it too.
// sensor_rb->getPPtr()->unfix();
// processor Range and Bearing
ProcessorParamsRangeBearingPtr params_rb = std::make_shared<ProcessorParamsRangeBearing>();
params_rb->voting_active = false;
params_rb->time_tolerance = 0.01;
ProcessorBasePtr processor_rb = problem->installProcessor("RANGE BEARING", "processor RB", sensor_rb, params_rb);
// CONFIGURE ==========================================================
......@@ -276,7 +279,7 @@ int main()
*
* - Observe that all other KFs and Lmks are correct.
*
* - Try self-calibrating the sensor orientation by uncommenting line 142 (well, around 142)
* - Try self-calibrating the sensor orientation by uncommenting line 151 (well, around 151)
*
*/
......
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