Questions on the code acg_node_localization.cpp

[ljjTYJR]

In the line

Auto-Complete-Graph/src/Localization/acg_node_localization.cpp

Line 890 in ffe7b0d

AASS::acg::AutoCompleteGraphLocalization oacg(g2o::SE2(0.2, 0.1, -0.1), ln,

Where does the param come from? g2o::SE2(0.2, 0.1, -0.1), it seems the offset of the sensor?

[MalcolmMielle]

Yep after looking in the code, I belive it's an offset used in the graph optimization in g2o:

Auto-Complete-Graph/include/auto_complete_graph/OptimizableAutoCompleteGraph.hpp

Lines 50 to 54 in ffe7b0d

	// add the parameter representing the sensor offset
	_sensorOffset = new g2o::ParameterSE2Offset;
	_sensorOffset->setOffset(_sensorOffsetTransf);
	_sensorOffset->setId(0);
	this->addParameter(_sensorOffset);