From dd67dce52ffb8e8aa0663a1d536da14f6f3ea2d3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 30 Jul 2019 02:31:14 +0200
Subject: [PATCH] Fix installers after merge

---
 src/yaml/processor_odom_3D_yaml.cpp | 2 +-
 src/yaml/sensor_odom_3D_yaml.cpp    | 2 --
 test/yaml/processor_odom_3D.yaml    | 3 ++-
 3 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index 211bd8652..c8e597c01 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -26,7 +26,6 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
 
     if (config["type"].as<std::string>() == "ODOM 3D")
     {
-
         ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
 
         params->time_tolerance      = config["time_tolerance"]      .as<Scalar>();
@@ -34,6 +33,7 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
         params->max_buff_length     = config["max_buff_length"]    .as<SizeEigen  >();
         params->dist_traveled       = config["dist_traveled"]      .as<Scalar>();
         params->angle_turned        = config["angle_turned"]       .as<Scalar>();
+        params->unmeasured_perturbation_std = config["unmeasured_perturbation_std"].as<Scalar>();
 
         return params;
     }
diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp
index 803963c71..51ceb2f63 100644
--- a/src/yaml/sensor_odom_3D_yaml.cpp
+++ b/src/yaml/sensor_odom_3D_yaml.cpp
@@ -26,8 +26,6 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do
 
     if (config["type"].as<std::string>() == "ODOM 3D")
     {
-//        YAML::Node variances = config["motion_variances"];
-
         IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>();
 
         params->k_disp_to_disp   = config["k_disp_to_disp"] .as<Scalar>();
diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml
index cdaf53674..6d8c58b1a 100644
--- a/test/yaml/processor_odom_3D.yaml
+++ b/test/yaml/processor_odom_3D.yaml
@@ -5,4 +5,5 @@ time_tolerance:         0.01  # seconds
 max_time_span:          0.2   # seconds
 max_buff_length:        10    # motion deltas
 dist_traveled:          0.5   # meters
-angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
+angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
+unmeasured_perturbation_std: 0.001
\ No newline at end of file
-- 
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