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  1. const Eigen::VectorXd error_alpha_3         = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
  2.                                             << 0.850000, 0.850000, 0.850000,
  3.                                                0.850000, 0.850000, 0.850000).finished();
  4. const Eigen::VectorXd bias_threshold_3      = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
  5.                                             << 0.000457, 0.000407, 0.000407,
  6.                                                0.001007, 0.001007, 0.001007).finished();
  7. const Eigen::VectorXd bias_step_3           = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
  8.                                             << 0.000550, 0.000550, 0.000550,
  9.                                                0.003495, 0.003495, 0.003495).finished();
  10. const Eigen::VectorXd gain_threshold_3      = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
  11.                                             << 0.502492, 0.502492, 0.502492,
  12.                                                0.252492, 0.252492, 0.252492).finished();
  13. const Eigen::VectorXd gain_step_3           = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
  14.                                             << 0.003152, 0.003552, 0.003552,
  15.                                                0.015152, 0.015152, 0.015152).finished();
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