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Better tuning for 2D. (#428)

master
Holger Rapp 2017-07-26 10:50:01 +02:00 committed by GitHub
parent 347dc8cec5
commit 3859da7ea4
1 changed files with 3 additions and 3 deletions
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6
configuration_files/trajectory_builder_2d.lua
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@ -37,9 +37,9 @@ TRAJECTORY_BUILDER_2D = {
}, },
ceres_scan_matcher = { ceres_scan_matcher = {
occupied_space_weight = 1e1, occupied_space_weight = 1.,
translation_weight = 1e1, translation_weight = 10.,
rotation_weight = 1e2, rotation_weight = 40.,
ceres_solver_options = { ceres_solver_options = {
use_nonmonotonic_steps = false, use_nonmonotonic_steps = false,
max_num_iterations = 20, max_num_iterations = 20,