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tracking & cheap handling of uninitialized values issue

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Jeremie Deray
2017-08-19 18:50:28 +02:00
committed by Jeremie Deray
parent fb5334d542
commit 02421bac19
2 changed files with 73 additions and 44 deletions
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4
include/rf2o_laser_odometry/CLaserOdometry2D.h
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@@ -36,7 +36,7 @@
namespace rf2o {
template <typename T>
inline int sign(T x) { return x<0 ? -1:1; }
inline T sign(const T x) { return x<T(0) ? -1:1; }
template <typename Derived>
inline typename Eigen::MatrixBase<Derived>::Scalar
@@ -170,7 +170,7 @@ protected:
void findNullPoints();
void solveSystemOneLevel();
void solveSystemNonLinear();
void filterLevelSolution();
bool filterLevelSolution();
void PoseUpdate();
void Reset(const Pose3d& ini_pose/*, CObservation2DRangeScan scan*/);
};