diff --git a/yaml/Demo/csm_inactive.yaml b/yaml/Demo/csm_inactive.yaml index b5336a90b5dad444b2bfd9d946582ab8d987cfc1..06f81310f3a6caa74382f153a59bfd8c4761497b 100644 --- a/yaml/Demo/csm_inactive.yaml +++ b/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 diff --git a/yaml/csm_inactive.yaml b/yaml/csm_inactive.yaml index 4ea66701ad3a5dfc836c70f988b99d7db48bba60..06f81310f3a6caa74382f153a59bfd8c4761497b 100644 --- a/yaml/csm_inactive.yaml +++ b/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 diff --git a/yaml/csm_old.yaml b/yaml/csm_old.yaml index 59f62f628e15cb484f40d3b0ce50b404dfdd317d..ccbe332864cc226bcf3bbe0c92d43a5ae4d3a1a2 100644 --- a/yaml/csm_old.yaml +++ b/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 diff --git a/yaml/trajectory_analysys/parameters/csm.yaml b/yaml/trajectory_analysys/parameters/csm.yaml index 3732d3785d9cd098a633cd28d25a04e1cc4fadd3..09f38e46982fec35560a418f7d31dde37dfc66a8 100644 --- a/yaml/trajectory_analysys/parameters/csm.yaml +++ b/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 diff --git a/yaml/trajectory_analysys/parameters/csm_inactive.yaml b/yaml/trajectory_analysys/parameters/csm_inactive.yaml index 4ea66701ad3a5dfc836c70f988b99d7db48bba60..06f81310f3a6caa74382f153a59bfd8c4761497b 100644 --- a/yaml/trajectory_analysys/parameters/csm_inactive.yaml +++ b/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