[Rock-dev] Representation of invalid positions vs. unknown uncertainty
Sylvain Joyeux
sylvain.joyeux at m4x.org
Mon Jan 16 18:42:40 CET 2012
While debugging some things for iMoby, I stumbled across the fact that
iMoby's odometry data has a position covariance matrix set to
Inf NaN NaN
NaN Inf NaN
NaN NaN Inf
Which is the default value set by RigidBodyState::invalidate() and marks
the position as unknown (infinite uncertainty on the position).
What the odometry component *actually* wants to say is that the
uncertainty is unknown, which IMO is:
NaN NaN NaN
NaN NaN NaN
NaN NaN NaN
Thoughts ?
Sylvain
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