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| author | Martin Miller | 2017-03-29 12:28:45 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-29 12:28:45 -0500 |
| commit | af8856394e8284462cd0e0c9e25d01a01a4ff551 (patch) | |
| tree | 39c79a7ac6728e3a7c07684adf176008bbcd3d5f /src/body.cpp | |
| parent | 411797b9a53d3865193bf4f45889c100ea4bc895 (diff) | |
| download | refslam-af8856394e8284462cd0e0c9e25d01a01a4ff551.zip refslam-af8856394e8284462cd0e0c9e25d01a01a4ff551.tar.gz | |
Change hardcoded values to defines
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/body.cpp b/src/body.cpp index 6985278..7ded581 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -90,7 +90,7 @@ Matrix<double,1,1> Body::R() { Matrix<double,1,1> R; - R << 1e-3; + R << R_HEIGHT; 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-6; - Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity(); + Q *= IMU_NOISE; + Q.block<3,3>(6,6) = dt*dt*IMU_RANDOMWALK*Matrix<double,3,3>::Identity(); return Q; } /* ----- end of method Body::q ----- */ |