From 919c19401fbfdd25ec6ac6e34f1275849c91ff46 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 24 Jun 2022 19:53:05 +0200
Subject: [PATCH] Use derived state blocks

---
 src/landmark/landmark_apriltag.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/landmark/landmark_apriltag.cpp b/src/landmark/landmark_apriltag.cpp
index c7a235a4..57de5413 100644
--- a/src/landmark/landmark_apriltag.cpp
+++ b/src/landmark/landmark_apriltag.cpp
@@ -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)
 {
-- 
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