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mobile_robotics
wolf_projects
wolf_lib
plugins
gnss
Commits
727bb82b
Commit
727bb82b
authored
7 years ago
by
Joan Solà Ortega
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Arrange setPrior() so that first all motions are set, then all trackers
parent
96419c7e
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src/problem.cpp
+4
-11
4 additions, 11 deletions
src/problem.cpp
with
4 additions
and
11 deletions
src/problem.cpp
+
4
−
11
View file @
727bb82b
...
@@ -655,21 +655,14 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen:
...
@@ -655,21 +655,14 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen:
if
(
processor
->
isMotion
())
if
(
processor
->
isMotion
())
// Motion processors will set its origin at the KF
// Motion processors will set its origin at the KF
(
std
::
static_pointer_cast
<
ProcessorMotion
>
(
processor
))
->
setOrigin
(
origin_keyframe
);
(
std
::
static_pointer_cast
<
ProcessorMotion
>
(
processor
))
->
setOrigin
(
origin_keyframe
);
else
// Other processors will join the KF or not depending on their received data's time stamp and tolerances
processor
->
keyFrameCallback
(
origin_keyframe
,
_time_tolerance
);
prior_is_set_
=
true
;
prior_is_set_
=
true
;
// keyFrameCallback(origin_keyframe, nullptr, _time_tolerance);
// Notify all other processors about the origin KF --> they will join it or not depending on their received data
// Notify all other processors about the origin KF --> they will join it or not depending on their received data
// for (auto sensor : hardware_ptr_->getSensorList())
for
(
auto
sensor
:
hardware_ptr_
->
getSensorList
())
// for (auto processor : sensor->getProcessorList())
for
(
auto
processor
:
sensor
->
getProcessorList
())
// if ( !processor->isMotion() )
if
(
!
processor
->
isMotion
()
)
// processor->keyFrameCallback(origin_keyframe, _time_tolerance);
processor
->
keyFrameCallback
(
origin_keyframe
,
_time_tolerance
);
return
origin_keyframe
;
return
origin_keyframe
;
}
}
...
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