Add global localization #91
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PASSED on kineticAll tests passed |
PASSED on indigoAll tests passed |
at-wat
commented
Dec 14, 2017
src/mcl_3dl.cpp
Outdated
| @@ -467,6 +469,11 @@ class MCL3dlNode | |||
| std::normal_distribution<float> aa(0.0, fabs(ang) * params_.odom_err_ang_ang); | |||
| auto prediction_func = [this, &ll, &la, &al, &aa, &v, &r](State &s) | |||
| { | |||
| if (fabs(s.rot.norm() - 1.0) > 0.1) | |||
src/mcl_3dl.cpp
Outdated
| auto p2 = p; | ||
| p2.z += 0.21; | ||
| if (!kdtree_->radiusSearch( | ||
| p2, 0.2, id, sqdist, 1)) |
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floor detection parameter is currently hard coded
at-wat
commented
Dec 14, 2017
src/mcl_3dl.cpp
Outdated
| } | ||
| pcl::VoxelGrid<pcl::PointXYZI> ds; | ||
| ds.setInputCloud(points.makeShared()); | ||
| ds.setLeafSize(0.3, 0.3, 0.3); |
PASSED on kineticAll tests passed |
PASSED on indigoAll tests passed |
PASSED on kineticAll tests passed |
PASSED on indigoAll tests passed |
PASSED on kineticAll tests passed |
PASSED on indigoAll tests passed |
at-wat
commented
Dec 15, 2017
src/mcl_3dl.cpp
Outdated
| imu_quat_.x = msg->orientation.x; | ||
| imu_quat_.y = msg->orientation.y; | ||
| imu_quat_.z = msg->orientation.z; | ||
| imu_quat_.w = msg->orientation.w; |
PASSED on kineticAll tests passed |
PASSED on indigoAll tests passed |
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fixes #4