From 8bdaffc02906f152ea1e6f0f07b6d120860f380c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 26 Jan 2025 10:44:51 -0500
Subject: [PATCH] add dead mode threshold and better timing printing

---
 examples/Hybrid_City10000.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/examples/Hybrid_City10000.cpp b/examples/Hybrid_City10000.cpp
index ce6abbf07..42f0169c8 100644
--- a/examples/Hybrid_City10000.cpp
+++ b/examples/Hybrid_City10000.cpp
@@ -99,7 +99,7 @@ int main(int argc, char* argv[]) {
 
   std::list<double> time_list;
 
-  HybridSmoother smoother;
+  HybridSmoother smoother(0.99);
 
   HybridNonlinearFactorGraph graph;
 
@@ -180,9 +180,10 @@ int main(int argc, char* argv[]) {
     }
 
     // Print loop index and time taken in processor clock ticks
-    if (index % 50 == 0 && key_s != key_t - 1) {
+    // if (index % 50 == 0 && key_s != key_t - 1) {
+    if (index % 100 == 0) {
       std::cout << "index: " << index << std::endl;
-      std::cout << "acc_time:  " << time_list.back() << std::endl;
+      std::cout << "acc_time:  " << time_list.back() / CLOCKS_PER_SEC << std::endl;
       // delta.discrete().print("The Discrete Assignment");
       tictoc_finishedIteration_();
       tictoc_print_();