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Added the Filter<->Smoother synchronization back into the example

release/4.3a0
Stephen Williams 2013-04-12 13:05:52 +00:00
parent f3007f5013
commit 693a0f991a
1 changed files with 7 additions and 4 deletions
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11
gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
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@ -130,10 +130,13 @@ int main(int argc, char** argv) {
fixedlagSmoother.update(newFactors, newValues, newTimestamps);
batchSmoother.update(newFactors, newValues, newTimestamps);
// // Manually synchronize the Concurrent Filter and Smoother every 1.0 s
// if(fmod(time, 1.0) < 0.01) {
// synchronize(concurrentFilter, concurrentSmoother);
// }
// Manually synchronize the Concurrent Filter and Smoother every 1.0 s
if(fmod(time, 1.0) < 0.01) {
// Synchronize the Filter and Smoother
synchronize(concurrentFilter, concurrentSmoother);
// // Update the smoother
// concurrentSmoother.update();
}
// Print the optimized current pose
cout << setprecision(5) << "Timestamp = " << time << endl;