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OdomF2M: added support to laser scan

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matlabbe
2016-03-06 15:11:09 -05:00
parent eefd557ab4
commit 7a1cf84b08
22 changed files with 696 additions and 226 deletions
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corelib/src/Odometry.cpp
+1 -1
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@@ -196,7 +196,7 @@ Transform Odometry::process(SensorData & data, OdometryInfo * info)
}
double dt = previousStamp_>0.0f?data.stamp() - previousStamp_:0.0;
Transform guess;
Transform guess = dt?Transform::getIdentity():Transform();
UASSERT(dt>0.0 || (dt == 0.0 && previousVelocityTransform_.isNull()));
if(!previousVelocityTransform_.isNull())
{