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| author | Miller | 2017-07-07 04:34:34 -0500 |
|---|---|---|
| committer | Miller | 2017-07-07 04:34:34 -0500 |
| commit | 8d73fd6f27ff524be88c2a2e06a67e22f47d28b9 (patch) | |
| tree | ad3404d79e3325257b5dd807fbdded472c60d92d /src/main.cpp | |
| parent | c43500dc7b87fdd852da23f4578c939c5f175a59 (diff) | |
| download | refslam-8d73fd6f27ff524be88c2a2e06a67e22f47d28b9.zip refslam-8d73fd6f27ff524be88c2a2e06a67e22f47d28b9.tar.gz | |
fix param and P0 bugs
Diffstat (limited to 'src/main.cpp')
| -rw-r--r-- | src/main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/main.cpp b/src/main.cpp index b72c0f1..31222ca 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -133,7 +133,7 @@ covCallback(const message &msg, State &mu, const Quaterniond &q) Renuned << 0.,1.,0.,1.,0.,0.,0.,0.,-1; Matrix3d pcov = Renuned*msg.covariance.position*Renuned.transpose(); pcov(2,2) *= 10; - mu.position_covariance(pcov); + //mu.position_covariance(pcov); mu.velocity_covariance(Rbw.transpose()*msg.covariance.velocity*Rbw); #if STATESIZE==13 Matrix3d Patt; |