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Automatically exported from code.google.com/p/tu-darmstadt-ros-pkg
In hector_mapping, MapRepMultiMap.h implements the MapRepMultiMap class, which
has a method matchData(). To my understanding, from the article "A Flexible and
Scalable SLAM System with Full 3D Motion Estimation", this method should go
through all the map levels and match the DataContainer with each one. However,
the current implementation does not do so.
A local variable "index" is declared and used in a for loop iterating through
all the maps in the MapRepMultiMap object, but this index remains unchanged
between iterations.
The result is a (presumably) suboptimal matching, as it does not utilize all
the available data. Additionally, not all the MapProcContainers are updated.
The following is a draft for a new implementation (untested):
size_t size = mapContainer.size();
Eigen::Vector3f tmp(beginEstimateWorld);
for (size_t i = size - 1; i >= 0; i--) {
if (i == 0) {
tmp = mapContainer[i].matchData(tmp, dataContainer, covMatrix, 5);
} else {
dataContainers[i - 1].setFrom(dataContainer, static_cast<float>(1.0 / pow(2.0, static_cast<double>(i))));
tmp = mapContainer[i].MatchData(tmp, dataContainers[i - 1], covMatrix, 3);
}
}
I hope this bug can be resolved.
Regards,
Mikael Berg
Original issue reported on code.google.com by [email protected]
on 20 Mar 2013 at 12:30
In the fuerte branch, the newest update has separated the simple controller
urdf file from the quadrotor base file, but the rewritten part for pid
controller parameters would make the controller can not get their parameters,
for example (rollpitch controller):
<rollpitch>
<proportionalGain>10.0</proportionalGain>
<differentialGain>5.0</differentialGain>
<limit>0.5</limit>
</rollpitch>
but in the cpp file, the parameter is got through this line:
if (_sdf->HasElement(prefix + "ProportionalGain"))
Thanks for review!
Original issue reported on code.google.com by [email protected]
on 30 Aug 2012 at 5:10
Add ground_truth/linear_acceleration_bias and
ground_truth/angular_velocity_bias (geometry_msgs/Vector3Stamped) publishers to
the IMU plugin
Original issue reported on code.google.com by [email protected]
on 27 Feb 2013 at 9:32
I am using GazeboRosSonar to model some Parallax Ping sonars, and I get the
following errors:
Error [Param.cc:250] Parameter [offset] is a [string], attempting to get as a
double.
Error [Param.cc:250] Parameter [drift] is a [string], attempting to get as a
double.
Error [Param.cc:250] Parameter [driftFrequency] is a [string], attempting to
get as a double.
Error [Param.cc:250] Parameter [gaussianNoise] is a [string], attempting to get
as a double.
Removing the param does not help, since it complains about them being missing.
I believe this is actually fixed in SVN, can you please do a point release for
groovy?
Original issue reported on code.google.com by [email protected]
on 3 Mar 2013 at 7:51
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