Round 3: pt2line truly before Hough, total correction limit, loc_rms in metrics

2026-07-03 07:42:13 +00:00
parent caaa18d30d
commit 0802d430a5
3 changed files with 45 additions and 42 deletions
--- a/include/car_nav_lite/localizer.hpp
+++ b/include/car_nav_lite/localizer.hpp
@@ -24,7 +24,7 @@ public:
    // Metrics
    int loc_lines_ = 0;
    double loc_dx_ = 0, loc_dy_ = 0, loc_dyaw_ = 0;
-    double loc_conf_ = 1.0;
+    double loc_conf_ = 1.0, loc_rms_ = 999.0;

 private:
    Pose2D odom_pose_;