manual init bypassing freeze-up but initializes variables at origin

[mc2922]

Re: issue 370
See script: testDynPtExManual

Same fg that freezes, now added manualinit at line 70. Solve completing:

but variables are initialized at 0:

The sas-factor here is x5-x9

[dehann]

Hi, thanks for posting -- let me have a closer look. My feeling is there is autoinit bug that is at least partially related to this "numerical" error bug. Example is very helpful in finding and fixing, thanks.

[dehann]

HI @mc2922 , is it possible to plot the ground truth values perhaps please?

[mc2922]

Yup, Line 95 should be plotting ground truth? Let me check it

[dehann]

Update with latest IIF master, looks like it is working perhaps. @mc2922 if you could please confirm these results? I'm having a little trouble with the ground truth still -- anyway here is what I get now:

With treeinit:

• https://github.com/JuliaRobotics/Caesar.jl/blob/twig/3Q19/dynSas_dbg/examples/marine/asv/kayaks/testDynPtExFail.jl

:l1 contour plots on the right.

[dehann]

I think the manual init is still failing, but autoinit is now performing better. Here is manual init result:

• https://github.com/JuliaRobotics/Caesar.jl/blob/twig/3Q19/dynSas_dbg/examples/marine/asv/kayaks/testDynPtExManual.jl

[mc2922]

Yes, freeze is resolved, now the tree-init completes with the following result:

[mc2922]

Seeing the same issue with manual init, points are at the origin