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