From cebc8da013ff31e491b6e3439a7c9fe0c5e3517a Mon Sep 17 00:00:00 2001 From: Joan Sola <jsola@iri.upc.edu> Date: Fri, 7 Dec 2018 10:22:57 +0100 Subject: [PATCH] Formatting and doc --- src/hello_wolf/hello_wolf.cpp | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/src/hello_wolf/hello_wolf.cpp b/src/hello_wolf/hello_wolf.cpp index 20ff4e793..51ef873b3 100644 --- a/src/hello_wolf/hello_wolf.cpp +++ b/src/hello_wolf/hello_wolf.cpp @@ -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) * */ -- GitLab