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Odom: Updated error msg when invalid stamps are received

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matlabbe
2018-11-19 18:19:24 -05:00
parent 283c1df00c
commit 5ae2f487b4
1 changed files with 2 additions and 2 deletions
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corelib/src/Odometry.cpp
+2 -2
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@@ -316,13 +316,13 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
Transform guess = dt>0.0 && guessFromMotion_ && !previousVelocityTransform_.isNull()?Transform::getIdentity():Transform(); Transform guess = dt>0.0 && guessFromMotion_ && !previousVelocityTransform_.isNull()?Transform::getIdentity():Transform();
if(!(dt>0.0 || (dt == 0.0 && previousVelocityTransform_.isNull()))) if(!(dt>0.0 || (dt == 0.0 && previousVelocityTransform_.isNull())))
{ {
if(guessFromMotion_ && !data.imageRaw().empty()) if(guessFromMotion_ && (!data.imageRaw().empty() || !data.laserScanRaw().isEmpty()))
{ {
UERROR("Guess from motion is set but dt is invalid! Odometry is then computed without guess. (dt=%f previous transform=%s)", dt, previousVelocityTransform_.prettyPrint().c_str()); UERROR("Guess from motion is set but dt is invalid! Odometry is then computed without guess. (dt=%f previous transform=%s)", dt, previousVelocityTransform_.prettyPrint().c_str());
} }
else if(_filteringStrategy==1) else if(_filteringStrategy==1)
{ {
UERROR("Kalman filtering is enalbed but dt is invalid! Odometry is then computed without Kalman filtering. (dt=%f previous transform=%s)", dt, previousVelocityTransform_.prettyPrint().c_str()); UERROR("Kalman filtering is enabled but dt is invalid! Odometry is then computed without Kalman filtering. (dt=%f previous transform=%s)", dt, previousVelocityTransform_.prettyPrint().c_str());
} }
dt=0; dt=0;
previousVelocityTransform_.setNull(); previousVelocityTransform_.setNull();