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0.18.3: added landmarks (graph optimization, localization, navigation)

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matlabbe
2018-12-07 18:29:41 -05:00
parent b771aa00e0
commit 200ec8e5db
35 changed files with 1509 additions and 709 deletions
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guilib/src/DatabaseViewer.cpp
+3 -2
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@@ -6564,10 +6564,11 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
if(maxLinearErrorRatio > maxOptimizationError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (ratio %f for edge %d->%d, stddev=%f m). "
"graph error is too large (abs=%f m) after optimization (ratio %f for edge %d->%d, stddev=%f m). "
"\"%s\" is %f.",
newLink.from(),
newLink.to(),
maxLinearError,
maxLinearErrorRatio,
maxLinearLink->from(),
maxLinearLink->to(),
@@ -6582,7 +6583,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
if(maxAngularErrorRatio > maxOptimizationError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (ratio %f for edge %d->%d, stddev=%f deg). "
"graph error is too large after optimization (ratio %f for edge %d->%d, stddev=%f deg, abs=%f deg). "
"\"%s\" is %f.",
newLink.from(),
newLink.to(),