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| author | Martin Miller | 2017-03-21 10:16:19 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-21 10:16:19 -0500 |
| commit | ef505520d7ab8eef04e28bbc3ed9b36ad1e6aa65 (patch) | |
| tree | d74cdf2ddcac2d4650d04ae220d18e0f1e5bfb2e /src/body.cpp | |
| parent | 0f25fa35e063d3df3c652153b2d6f1b9f94ce82e (diff) | |
| download | refslam-ef505520d7ab8eef04e28bbc3ed9b36ad1e6aa65.zip refslam-ef505520d7ab8eef04e28bbc3ed9b36ad1e6aa65.tar.gz | |
small changes
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 e6bfb6c..2a907a1 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -84,7 +84,7 @@ Matrix<double,1,1> Body::R() { Matrix<double,1,1> R; - R << 1e-8; + R << 1e-3; return R; } @@ -104,8 +104,8 @@ 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-3*Matrix<double,3,3>::Identity(); + Q *= 800e-5; + Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity(); return Q; } /* ----- end of method Body::q ----- */ |