function

SLAM.PoseGraph.RGBDGraphProcessing.DefaultPolicy

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
output	`result`	`Policy`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function DefaultPolicy
    output Policy result;
  algorithm
    result.filter := SchmidtGraphPoseCorrection.DefaultPolicy();
    result.maximumIterations := 8;
    result.maximumPCG := 48;
    result.maximumBacktracks := 8;
    result.initialDamping := 1e-3;
    result.maximumPositionStep := 0.5;
    result.maximumAngleStep := 0.15;
    result.pcgTolerance := 1e-6;
    result.covariancePCG := 48;
    result.covarianceTolerance := 1e-10;
    result.anchorWeight := 0.5;
    result.anchorPositionLimit := 5.0;
    result.anchorAngleLimit := 0.35;
    result.transportWeight := 0.5;
    result.consistencyTolerance := 1e-6;
    result.maximumConfidence := 8;
  end DefaultPolicy;