From a0901eb75d42f7da1135a9f2ffb957fedefe30c3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 19 Aug 2022 22:19:30 +0200
Subject: [PATCH] use shared_from_this
---
src/processor/processor_force_torque_inertial_dynamics.cpp | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/src/processor/processor_force_torque_inertial_dynamics.cpp b/src/processor/processor_force_torque_inertial_dynamics.cpp
index 7709b08..fa5078e 100644
--- a/src/processor/processor_force_torque_inertial_dynamics.cpp
+++ b/src/processor/processor_force_torque_inertial_dynamics.cpp
@@ -104,8 +104,7 @@ void ProcessorForceTorqueInertialDynamics::emplaceFeaturesAndFactors(CaptureBase
auto ftr_base = FeatureBase::emplace<FeatureBase>(_capture_own, "FeatureBase", measurement_gyro, gyro_cov);
- FactorBase::emplace<FactorAngularMomentum>(
- ftr_base, ftr_base, _capture_own->getSensor()->getProcessorList().back(), params_->apply_loss_function);
+ FactorBase::emplace<FactorAngularMomentum>(ftr_base, ftr_base, shared_from_this(), params_->apply_loss_function);
// 3. Feature and factor bias -- IMU bias drift for acc and gyro
//---------------------------------------------------------------
--
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