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release/4.3a0
Frank Dellaert 2025-01-31 12:06:31 -05:00
parent 3ca88f2a46
commit 3f11c5dd01
1 changed files with 6 additions and 2 deletions
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8
examples/Hybrid_City10000.cpp
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@ -44,9 +44,13 @@ using symbol_shorthand::M;
using symbol_shorthand::X;
const size_t kMaxLoopCount = 3000; // Example default value
const size_t kUpdateFrequency = 3; // 3000: {1: 62s, 2: 21s, 3: 20s, 4: 31s, 5:39s}
const size_t kMaxNrHypotheses = 10;
// 3000: {1: 62s, 2: 21s, 3: 20s, 4: 31s, 5: 39s} No DT optimizations
// 3000: {1: 65s, 2: 20s, 3: 16s, 4: 21s, 5: 28s} With DT optimizations
// 3000: {1: 59s, 2: 19s, 3: 18s, 4: 26s, 5: 33s} With DT optimizations + merge
const size_t kUpdateFrequency = 3;
const size_t kMaxNrHypotheses = 10;
auto kOpenLoopModel = noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10);