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Add missing force4DOF param to PointToPlaneWithCov #384

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merged 2 commits into from
Jul 1, 2020
Merged

Add missing force4DOF param to PointToPlaneWithCov #384

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7868c04
Add missing force4DOF param to PointToPlaneWithCov
bhavitp Jun 5, 2020
8064364
Merge branch 'master' into fix/PointToPointWithCov_force4D
pomerlef Jul 1, 2020
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1 change: 1 addition & 0 deletions pointmatcher/ErrorMinimizers/PointToPlaneWithCov.h
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Expand Up @@ -71,6 +71,7 @@ struct PointToPlaneWithCovErrorMinimizer: public PointToPlaneErrorMinimizer<T>
{
return {
{"force2D", "If set to true(1), the minimization will be force to give a solution in 2D (i.e., on the XY-plane) even with 3D inputs.", "0", "0", "1", &P::Comp<bool>},
{"force4DOF", "If set to true(1), the minimization will optimize only yaw and translation, pitch and roll will follow the prior.", "0", "0", "1", &P::Comp<bool>},
{"sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>}
};
}
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