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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
39 stars 10 forks source link

Fix inconsistent test results #388

Closed varunagrawal closed 8 months ago

varunagrawal commented 9 months ago

Fixes #233.

The issue was that Statics::solve was calling initialValues(slice, robot) with a default gaussian noise parameter of 0.1. This is neither a functional style and is machine dependent due to the PRNG.

I added gaussian_noise as an extra parameter, and set all the gaussian_noise defaults to be a more sensible 0.0. The user is free to update them if desired.

varunagrawal commented 8 months ago

@gchenfc gentle reminder