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Set time tolerance to suit experiment requirements

Merged Joan Solà Ortega requested to merge hotfix into master
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@@ -187,10 +187,17 @@ int main(int argc, char** argv)
@@ -187,10 +187,17 @@ int main(int argc, char** argv)
intrinsics_diff_drive->left_gain_ = 0.01;
intrinsics_diff_drive->left_gain_ = 0.01;
intrinsics_diff_drive->right_gain_ = 0.01;
intrinsics_diff_drive->right_gain_ = 0.01;
 
// Time and data variables
 
TimeStamp t;
 
Scalar stamp_secs(0);
 
// Scalar period_secs(0.010); //100Hz
 
Scalar period_secs(0.020); //50Hz
 
Eigen::Vector2s data_; data_ << 0,0;
 
const auto scalar_max = std::numeric_limits<Scalar>::max();
const auto scalar_max = std::numeric_limits<Scalar>::max();
ProcessorParamsBasePtr processor_params =
ProcessorParamsBasePtr processor_params =
std::make_shared<ProcessorParamsDiffDrive>(0.01, scalar_max, scalar_max, scalar_max);
std::make_shared<ProcessorParamsDiffDrive>(period_secs/2, scalar_max, scalar_max, scalar_max);
SensorBasePtr sensor_ptr =
SensorBasePtr sensor_ptr =
wolf_problem_ptr_->installSensor("DIFF DRIVE", sensor_name, extrinsics, intrinsics);
wolf_problem_ptr_->installSensor("DIFF DRIVE", sensor_name, extrinsics, intrinsics);
@@ -203,13 +210,6 @@ int main(int argc, char** argv)
@@ -203,13 +210,6 @@ int main(int argc, char** argv)
WOLF_INFO("Processor 'DIFF DRIVE' installed.");
WOLF_INFO("Processor 'DIFF DRIVE' installed.");
// Time and data variables
TimeStamp t;
Scalar stamp_secs(0);
// Scalar period_secs(0.010); //100Hz
Scalar period_secs(0.020); //50Hz
Eigen::Vector2s data_; data_ << 0,0;
// Get initial wheel data
// Get initial wheel data
if (WHEEL_DATA)
if (WHEEL_DATA)
readWheelData(data_file, data_);
readWheelData(data_file, data_);
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