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authorMartin Miller2017-03-29 16:04:02 -0500
committerMartin Miller2017-03-29 16:04:02 -0500
commite5e65d31eb86fc41ddc68e5bb09f3729f8c009ae (patch)
treec0561e85acf56b2649fd9f8fb3a76519cfc96b77 /src/state.h
parentd9254650bd6b8998dec87695ae4875e9f0a4b2da (diff)
downloadrefslam-e5e65d31eb86fc41ddc68e5bb09f3729f8c009ae.zip
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1.2 m error on 1112-1-3
Diffstat (limited to 'src/state.h')
-rw-r--r--src/state.h1
1 files changed, 1 insertions, 0 deletions
diff --git a/src/state.h b/src/state.h
index 11bfa46..92a83ab 100644
--- a/src/state.h
+++ b/src/state.h
@@ -10,6 +10,7 @@
#include "types.h"
#define MAXFEATURES 50
+#define COVBIAS 1e-7
//#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once
#define FULLS // Comment out to treat each measurement independently.
//#define BLOCKSI