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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
e8942234
Commit
e8942234
authored
7 years ago
by
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
!191
Processor params
Changes
2
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2 changed files
src/processor_IMU.cpp
+0
-1
0 additions, 1 deletion
src/processor_IMU.cpp
src/processors/processor_diff_drive.cpp
+1
-1
1 addition, 1 deletion
src/processors/processor_diff_drive.cpp
with
1 addition
and
2 deletions
src/processor_IMU.cpp
+
0
−
1
View file @
e8942234
...
@@ -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
...
...
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src/processors/processor_diff_drive.cpp
+
1
−
1
View file @
e8942234
...
@@ -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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