Better validate partial measurement output #131
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This allows to: * Relax the default precision when validating the covariance matrix is symmetric. * Print the covariance matrix with `Eigen::FullPrecision` when the symmetry test fails with `isApprox`, so we can see the magnitude of the error.
Also changes from throwing/crashing to ROS_ERROR.
svwilliams
reviewed
Jan 17, 2020
ayrton04
approved these changes
Jan 20, 2020
efernandez
commented
Jan 22, 2020
And use `Eigen::FullPrecision` output.
And `validate` argument to `sensor_proc.h` processing functions, so the validation checks can be enabled or disabled based on the value of the `disable_checks` param.
svwilliams
approved these changes
Jan 27, 2020
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Show source if validation fails
ROS_ERROR.Add precision arg for covariance validation. This allows to:
symmetric.
Eigen::FullPrecisionwhen thesymmetry test fails with
isApprox, so we can see the magnitude ofthe error.