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| author | Martin Miller | 2017-04-05 12:28:49 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-05 12:28:49 -0500 |
| commit | 84782fff8f5838a0d58f3c32a558ed29d2a7e9d1 (patch) | |
| tree | 936dcbc0545bdb30eb93bffbac91fa7e3b63e7bb /src/state.cpp | |
| parent | 6d90fd67237c64361ccad7277433e56ca91d3261 (diff) | |
| download | refslam-84782fff8f5838a0d58f3c32a558ed29d2a7e9d1.zip refslam-84782fff8f5838a0d58f3c32a558ed29d2a7e9d1.tar.gz | |
changes
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/state.cpp b/src/state.cpp index e53ad29..8b69ca2 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -1026,7 +1026,7 @@ State::qhat ( const Quaterniond &q ) void State::quaternion_covariance ( ) { - P.block<4,4>(6,6) = 1e-5*Matrix<double,4,4>::Identity(); + P.block<4,4>(6,6) = 1e-12*Matrix<double,4,4>::Identity(); return ; } /* ----- end of method State::quaternion_covariance ----- */ |