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Commit e8942234 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Fix order of constructor params to fit time_tolerance

parent c6ea193e
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1 merge request!191Processor params
...@@ -9,7 +9,6 @@ ProcessorIMU::ProcessorIMU(const ProcessorParamsIMU& _params) : ...@@ -9,7 +9,6 @@ ProcessorIMU::ProcessorIMU(const ProcessorParamsIMU& _params) :
max_buff_length_(_params.max_buff_length ), max_buff_length_(_params.max_buff_length ),
dist_traveled_ (_params.dist_traveled ), dist_traveled_ (_params.dist_traveled ),
angle_turned_ (_params.angle_turned ), angle_turned_ (_params.angle_turned ),
voting_active_ (_params.voting_active )
{ {
// Set constant parts of Jacobians // Set constant parts of Jacobians
jacobian_delta_preint_.setIdentity(9,9); // dDp'/dDp, dDv'/dDv, all zeros jacobian_delta_preint_.setIdentity(9,9); // dDp'/dDp, dDv'/dDv, all zeros
......
...@@ -13,7 +13,7 @@ namespace wolf ...@@ -13,7 +13,7 @@ namespace wolf
{ {
ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrive &params) : ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrive &params) :
ProcessorMotion("DIFF DRIVE", 3, 3, 3, 2, 3, 0.15), ProcessorMotion("DIFF DRIVE", 0.15, 3, 3, 3, 2, 3),
unmeasured_perturbation_cov_(Matrix3s::Identity()* unmeasured_perturbation_cov_(Matrix3s::Identity()*
params.unmeasured_perturbation_std_* params.unmeasured_perturbation_std_*
params.unmeasured_perturbation_std_), params.unmeasured_perturbation_std_),
......
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