Merge pull request #2 from OmarHarib/devel-c98

Devel c98
RossHartley · Oct 16, 2018 · b68f283 · b68f283
2 parents 3329d7a + 64538a8
commit b68f283
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Showing 3 changed files with 5 additions and 2 deletions.
diff --git a/include/LieGroup.h b/include/LieGroup.h
@@ -18,7 +18,7 @@
 
 namespace inekf {
 
-#define TOLERANCE 1e-10 
+extern const double TOLERANCE;
 
 Eigen::Matrix3d skew(const Eigen::Vector3d& v);
 Eigen::Matrix3d Exp_SO3(const Eigen::Vector3d& w);

diff --git a/src/LieGroup.cpp b/src/LieGroup.cpp
@@ -17,6 +17,8 @@ namespace inekf {
 
 using namespace std;
 
+const double TOLERANCE = 1e-10;
+
 Eigen::Matrix3d skew(const Eigen::Vector3d& v) {
     // Convert vector to skew-symmetric matrix
     Eigen::Matrix3d M = Eigen::Matrix3d::Zero();

diff --git a/src/NoiseParams.cpp b/src/NoiseParams.cpp
@@ -68,6 +68,7 @@ std::ostream& operator<<(std::ostream& os, const NoiseParams& p) {
     os << "Landmark Covariance:\n" << p.Ql_ << endl;
     os << "Contact Covariance:\n" << p.Qc_ << endl;
     os << "-----------------------------------" << endl;
+    return os;
 }
 
-} // end inekf namespace
+} // end inekf namespace