Better tuning for 2D. (#428)

2017-07-26 10:50:01 +02:00 · 2017-07-26 10:50:01 +02:00 · 3859da7ea4
parent 347dc8cec5
commit 3859da7ea4
1 changed files with 3 additions and 3 deletions
--- a/configuration_files/trajectory_builder_2d.lua
+++ b/configuration_files/trajectory_builder_2d.lua
@ -37,9 +37,9 @@ TRAJECTORY_BUILDER_2D = {
  },

  ceres_scan_matcher = {
-    occupied_space_weight = 1e1,
-    translation_weight = 1e1,
-    rotation_weight = 1e2,
+    occupied_space_weight = 1.,
+    translation_weight = 10.,
+    rotation_weight = 40.,
    ceres_solver_options = {
      use_nonmonotonic_steps = false,
      max_num_iterations = 20,