diff options
| author | Martin Miller | 2017-03-28 09:53:29 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-28 09:53:29 -0500 |
| commit | 9533fbcda07254b65a53a9109555662d9a09086c (patch) | |
| tree | 7a7c246241ffc856ea47fc6b35f63d2734aa21f0 /src/body.cpp | |
| parent | e0734384252675e2a37f4d9287184cc48ab68b05 (diff) | |
| download | refslam-9533fbcda07254b65a53a9109555662d9a09086c.zip refslam-9533fbcda07254b65a53a9109555662d9a09086c.tar.gz | |
update
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/body.cpp b/src/body.cpp index ff54e89..6985278 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -31,7 +31,7 @@ Body::dx ( const Matrix<double,9,1> &del ) // Constrain the height if (X[2]<-1.) { X[2]=-1.; - } else if (X[2]>-0.2) { + } else if (X[2]>-0.3) { X[2]=-0.2; } return ; @@ -90,7 +90,7 @@ Matrix<double,1,1> Body::R() { Matrix<double,1,1> R; - R << 1e-2; + R << 1e-3; return R; } @@ -110,8 +110,8 @@ Body::Q (double dt) Q.block<3,3>(3,0) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity(); Q.block<3,3>(0,3) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity(); Q.block<3,3>(3,3) = dt*dt*Matrix<double,3,3>::Identity(); - Q *= 800e-5; - Q.block<3,3>(6,6) = dt*dt*5e-7*Matrix<double,3,3>::Identity(); + Q *= 800e-6; + Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity(); return Q; } /* ----- end of method Body::q ----- */ |