From 456a16526ebc1fa24095dc0204ffc428d590f70b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 22 Jun 2013 01:29:26 +0000 Subject: [PATCH] Vector3 --- examples/RangeISAMExample_plaza2.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp index c2688a0c2..7c3c43272 100644 --- a/examples/RangeISAMExample_plaza2.cpp +++ b/examples/RangeISAMExample_plaza2.cpp @@ -108,8 +108,8 @@ int main (int argc, char** argv) { bool robust = true; // Set Noise parameters - Vector priorSigmas = Vector_(3, 1.0, 1.0, M_PI); - Vector odoSigmas = Vector_(3, 0.05, 0.01, 0.2); + Vector priorSigmas = Vector3(1,1,M_PI); + Vector odoSigmas = Vector3(0.05, 0.01, 0.2); double sigmaR = 100; // range standard deviation const NM::Base::shared_ptr // all same type priorNoise = NM::Diagonal::Sigmas(priorSigmas), //prior @@ -129,13 +129,13 @@ int main (int argc, char** argv) { Values initial; initial.insert(0, pose0); - // initialize points drawn from sigma=1 Gaussian in matlab version + // initialize points if (groundTruth) { // from TL file initial.insert(symbol('L', 1), Point2(-68.9265, 18.3778)); initial.insert(symbol('L', 6), Point2(-37.5805, 69.2278)); initial.insert(symbol('L', 0), Point2(-33.6205, 26.9678)); initial.insert(symbol('L', 5), Point2(1.7095, -5.8122)); - } else { + } else { // drawn from sigma=1 Gaussian in matlab version initial.insert(symbol('L', 1), Point2(3.5784, 2.76944)); initial.insert(symbol('L', 6), Point2(-1.34989, 3.03492)); initial.insert(symbol('L', 0), Point2(0.725404, -0.0630549));