From 3859da7ea447ffb4d63335e0cd62e657f5e7e1ac Mon Sep 17 00:00:00 2001 From: Holger Rapp Date: Wed, 26 Jul 2017 10:50:01 +0200 Subject: [PATCH] Better tuning for 2D. (#428) --- configuration_files/trajectory_builder_2d.lua | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/configuration_files/trajectory_builder_2d.lua b/configuration_files/trajectory_builder_2d.lua index 6b9836b..689d912 100644 --- a/configuration_files/trajectory_builder_2d.lua +++ b/configuration_files/trajectory_builder_2d.lua @@ -37,9 +37,9 @@ TRAJECTORY_BUILDER_2D = { }, ceres_scan_matcher = { - occupied_space_weight = 1e1, - translation_weight = 1e1, - rotation_weight = 1e2, + occupied_space_weight = 1., + translation_weight = 10., + rotation_weight = 40., ceres_solver_options = { use_nonmonotonic_steps = false, max_num_iterations = 20,