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rename likelihood
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Signed-off-by: YamatoAndo <yamato.ando@gmail.com>
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YamatoAndo committed Mar 30, 2022
1 parent f95f8ca commit 3900ce5
Showing 1 changed file with 3 additions and 3 deletions.
6 changes: 3 additions & 3 deletions localization_launch/config/ndt_scan_matcher.param.yaml
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Expand Up @@ -24,8 +24,8 @@
max_iterations: 30

# Converged param type
# 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_PROBABILITY
# NEAREST_VOXEL_TRANSFORMATION_PROBABILITY is only available when NDTImplementType::OMP is selected
# 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD
# NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD is only available when NDTImplementType::OMP is selected
converged_param_type: 1

# If converged_param_type is 0
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# If converged_param_type is 1
# Threshold for deciding whether to trust the estimation result
converged_param_nearest_voxel_transformation_probability: 2.3
converged_param_nearest_voxel_transformation_likelihood: 2.3

# The number of particles to estimate initial pose
initial_estimate_particles_num: 100
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