diff options
Diffstat (limited to 'dev-ros/hector_pose_estimation_core/files/eigen.patch')
| -rw-r--r-- | dev-ros/hector_pose_estimation_core/files/eigen.patch | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/dev-ros/hector_pose_estimation_core/files/eigen.patch b/dev-ros/hector_pose_estimation_core/files/eigen.patch new file mode 100644 index 000000000000..b58bb9e8ca3d --- /dev/null +++ b/dev-ros/hector_pose_estimation_core/files/eigen.patch @@ -0,0 +1,13 @@ +Index: hector_pose_estimation_core/src/measurements/poseupdate.cpp +=================================================================== +--- hector_pose_estimation_core.orig/src/measurements/poseupdate.cpp ++++ hector_pose_estimation_core/src/measurements/poseupdate.cpp +@@ -382,7 +382,7 @@ double PoseUpdate::updateInternal(State + ROS_DEBUG_STREAM_NAMED("poseupdate", "alpha = " << alpha << ", beta = " << beta); + + if (max_error > 0.0) { +- double error2 = error.transpose() * Ix * (Ix + Iy).inverse() * Iy * error; ++ double error2 = error.transpose().dot( Ix * (Ix + Iy).inverse() * Iy * error); + if (error2 > max_error * max_error) { + if (!jump_on_max_error_ || !jump_function) { + ROS_WARN_STREAM_NAMED("poseupdate", "Ignoring poseupdate for " << text << " as the error [ " << error.transpose() << " ], |error| = " << sqrt(error2) << " sigma exceeds max_error!"); |