Commit 919c1940 authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Use derived state blocks

parent b86f6ee4
......@@ -23,11 +23,12 @@
#include "core/common/factory.h"
#include "core/math/rotations.h"
#include "core/yaml/yaml_conversion.h"
#include <core/state_block/state_block_derived.h>
namespace wolf {
LandmarkApriltag::LandmarkApriltag(Eigen::Vector7d& pose, const int& _tagid, const double& _tag_width) :
LandmarkBase("LandmarkApriltag", std::make_shared<StateBlock>(pose.head(3)), std::make_shared<StateQuaternion>(pose.tail(4))),
LandmarkBase("LandmarkApriltag", std::make_shared<StatePoint3d>(pose.head(3)), std::make_shared<StateQuaternion>(pose.tail(4))),
tag_id_(_tagid),
tag_width_(_tag_width)
{
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment