added missing param for icp

yaml/Demo/csm_inactive.yaml

@@ -42,6 +42,5 @@ sigma:                        0.2   # Noise of the scan
 
 # COVARIANCE
 do_compute_covariance:        true
-cov_factor:                   5     # Factor multiplying the cov output of csm
-
-cov_factor:                          9999999999999999999999
+cov_factor:                   1e10  # Factor multiplying the cov output of csm
+cov_max_eigv_factor:          1     # Factor multiplying the direction of the max eigenvalue of the cov output of csm 

yaml/csm_inactive.yaml

@@ -42,4 +42,5 @@ sigma:                        0.2   # Noise of the scan
 
 # COVARIANCE
 do_compute_covariance:        true
-cov_factor:                          9999999999999999999999
+cov_factor:                   1e10  # Factor multiplying the cov output of csm
+cov_max_eigv_factor:          1     # Factor multiplying the direction of the max eigenvalue of the cov output of csm 

yaml/csm_old.yaml

@@ -32,4 +32,5 @@ use_ml_weights:                      0
 use_sigma_weights:                   0
 
 
-cov_factor:                          1
+cov_factor:                          1 
+cov_max_eigv_factor:                 1

yaml/trajectory_analysys/parameters/csm.yaml

@@ -43,3 +43,4 @@ sigma:                        0.2   # Noise of the scan
 # COVARIANCE
 do_compute_covariance:        true
 cov_factor:                   1     # Factor multiplying the cov output of csm
+cov_max_eigv_factor:          1     # Factor multiplying the direction of the max eigenvalue of the cov output of csm 

yaml/trajectory_analysys/parameters/csm_inactive.yaml

@@ -42,4 +42,5 @@ sigma:                        0.2   # Noise of the scan
 
 # COVARIANCE
 do_compute_covariance:        true
-cov_factor:                          9999999999999999999999
+cov_factor:                   1e10  # Factor multiplying the cov output of csm
+cov_max_eigv_factor:          1     # Factor multiplying the direction of the max eigenvalue of the cov output of csm