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set sigma to 1 in pose2prior

release/4.3a0
Kai Ni 2010-01-16 07:50:14 +00:00
parent a4d61d2f23
commit b0f27c5d4b
1 changed files with 2 additions and 1 deletions
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3
cpp/Pose2Prior.h
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@ -25,10 +25,11 @@ private:
public: public:
typedef NonlinearFactor<Pose2Config> Base;
typedef boost::shared_ptr<Pose2Prior> shared_ptr; // shorthand for a smart pointer to a factor typedef boost::shared_ptr<Pose2Prior> shared_ptr; // shorthand for a smart pointer to a factor
Pose2Prior(const Key& key, const Pose2& measured, const Matrix& measurement_covariance) : Pose2Prior(const Key& key, const Pose2& measured, const Matrix& measurement_covariance) :
key_(key),measured_(measured) { key_(key),measured_(measured),Base(1.0) {
square_root_inverse_covariance_ = inverse_square_root(measurement_covariance); square_root_inverse_covariance_ = inverse_square_root(measurement_covariance);
keys_.push_back(key); keys_.push_back(key);
} }