cleaned up config todos

nasa · Jun 7, 2024 · 8055ccb · 8055ccb
1 parent 42d72a6
commit 8055ccb
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diff --git a/astrobee/config/localization/graph_localizer.config b/astrobee/config/localization/graph_localizer.config
@@ -66,11 +66,9 @@ gl_na_pose_starting_prior_translation_stddev = 0.02
 gl_na_pose_starting_prior_quaternion_stddev = 0.01
 gl_na_pose_huber_k = world_huber_k 
 gl_na_pose_add_priors = true 
--- TODO: tune these!
 gl_na_pose_ideal_duration = 4 
 gl_na_pose_min_num_states = 3 
 gl_na_pose_max_num_states = 5
--- TODO: start node??
 gl_na_pose_model_huber_k = world_huber_k
 -- Optimizer (op)
 --- Nonlinear
@@ -86,5 +84,4 @@ gl_go_sw_print_after_optimization = false
 gl_go_sw_add_marginal_factors = false 
 gl_go_sw_slide_window_before_optimization = true
 -- Other
--- TODO: tune this!
 gl_max_vio_measurement_gap = 3 
diff --git a/astrobee/config/localization/graph_vio.config b/astrobee/config/localization/graph_vio.config
@@ -29,7 +29,6 @@ gv_fa_standstill_pose_between_factor_rotation_stddev = 0.01
 --- VO
 gv_fa_vo_enabled = true
 gv_fa_vo_huber_k = world_huber_k 
---- 8 for sped up?
 gv_fa_vo_max_num_factors = 8 
 gv_fa_vo_min_num_points_per_factor = 2 
 gv_fa_vo_max_num_points_per_factor = 6