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| author | Martin Miller | 2017-07-04 19:59:59 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-07-04 19:59:59 -0500 |
| commit | c4356f7eb431649505cf2bf10b2198af76f90eae (patch) | |
| tree | 98d4704e7c4bec48bda4a076432d9408a955b633 | |
| parent | d2070eef13177191a25e97cdb78b60bd58743a9e (diff) | |
| download | refslam-c4356f7eb431649505cf2bf10b2198af76f90eae.zip refslam-c4356f7eb431649505cf2bf10b2198af76f90eae.tar.gz | |
add canoe height params
| -rw-r--r-- | src/main.cpp | 15 | ||||
| -rw-r--r-- | src/types.h | 3 |
2 files changed, 11 insertions, 7 deletions
diff --git a/src/main.cpp b/src/main.cpp index 81b7df7..85ccf55 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -29,7 +29,10 @@ double view_noise = 0.0006; double initial_view_noise = 0.0001; double reflection_view_noise = 0.0006; -double r_height,acc_std,ang_std,acc_bias_std; +double r_height = 0.2025; +double acc_std = 0.002835; +double ang_std = 0.008019; +double acc_bias_std = 0.00891; using std::cout; using std::endl; @@ -86,10 +89,10 @@ aboveWater(const Quaterniond &q) { Vector3d tip; #ifdef HEIGHT_FROM_ATTITUDE - tip << CANOECENTER*3.43, 0, CANOEHEIGHT; + tip << canoecenter*3.43, 0, canoeheight; tip = q._transformVector(tip); #else /* ----- not HEIGHT_FROM_ATTITUDE ----- */ - tip[2] = CANOEHEIGHT; + tip[2] = canoeheight; #endif /* ----- not HEIGHT_FROM_ATTITUDE ----- */ return tip[2]; } @@ -459,10 +462,8 @@ main(int argc, char **argv) // read params file FILE *pfin; pfin = fopen(argv[2], "r"); - fscanf(pfin,"%lf",&r_height); - fscanf(pfin,"%lf",&acc_std); - fscanf(pfin,"%lf",&ang_std); - fscanf(pfin,"%lf",&acc_bias_std); + fscanf(pfin,"%lf",&canoecenter); + fscanf(pfin,"%lf",&canoeheight); fclose(pfin); // Read sensors from file int i=0; diff --git a/src/types.h b/src/types.h index c0e5833..b9a5560 100644 --- a/src/types.h +++ b/src/types.h @@ -26,6 +26,9 @@ extern double acc_std; extern double ang_std; extern double acc_bias_std; +extern double canoecenter; +extern double canoeheight; + typedef Eigen::Matrix<double,2,1,Eigen::DontAlign> UVector2d; // A struct for storing measurements. typedef enum {BOTH,REFLECTION,MONO,HEIGHT} measurement_type; |