From c4356f7eb431649505cf2bf10b2198af76f90eae Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 4 Jul 2017 19:59:59 -0500
Subject: add canoe height params

---
 src/main.cpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index 81b7df7..85ccf55 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -29,7 +29,10 @@ double view_noise = 0.0006;
 double initial_view_noise = 0.0001;
 double reflection_view_noise = 0.0006;
 
-double r_height,acc_std,ang_std,acc_bias_std;
+double r_height = 0.2025;
+double acc_std = 0.002835;
+double ang_std = 0.008019;
+double acc_bias_std = 0.00891;
 
 using std::cout;
 using std::endl;
@@ -86,10 +89,10 @@ aboveWater(const Quaterniond &q)
 {
     Vector3d tip;
 #ifdef  HEIGHT_FROM_ATTITUDE
-    tip << CANOECENTER*3.43, 0, CANOEHEIGHT;
+    tip << canoecenter*3.43, 0, canoeheight;
     tip = q._transformVector(tip);
 #else      /* -----  not HEIGHT_FROM_ATTITUDE  ----- */
-    tip[2] = CANOEHEIGHT;
+    tip[2] = canoeheight;
 #endif     /* -----  not HEIGHT_FROM_ATTITUDE  ----- */
     return tip[2];
 }
@@ -459,10 +462,8 @@ main(int argc, char **argv)
     // read params file
     FILE *pfin;
     pfin = fopen(argv[2], "r");
-    fscanf(pfin,"%lf",&r_height);
-    fscanf(pfin,"%lf",&acc_std);
-    fscanf(pfin,"%lf",&ang_std);
-    fscanf(pfin,"%lf",&acc_bias_std);
+    fscanf(pfin,"%lf",&canoecenter);
+    fscanf(pfin,"%lf",&canoeheight);
     fclose(pfin);
     // Read sensors from file
     int i=0;
-- 
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