diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp index 9250a851ce250ff1b84d3fcaa313892095332ebf..ec6dea6e8a6a1a34871b2fbaf050bb1b67a05115 100644 --- a/src/examples/solver/test_iQR_wolf2.cpp +++ b/src/examples/solver/test_iQR_wolf2.cpp @@ -172,8 +172,8 @@ int main(int argc, char *argv[]) ground_truth.head(3) = pose_odom; odom_trajectory.head(3) = pose_odom; - WolfManager* wolf_manager_QR = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01); - WolfManager* wolf_manager_ceres = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01); + WolfManager* wolf_manager_QR = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01); + WolfManager* wolf_manager_ceres = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, n_execution*10, 0.01); // Ceres initialization ceres::Solver::Options ceres_options; diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp index 20a13307fbff7c6409f88ab3c3ef132c86cba647..b1742b63934ec55dbcf34cadf667e748ab3ccaac 100644 --- a/src/examples/test_autodiff.cpp +++ b/src/examples/test_autodiff.cpp @@ -130,8 +130,8 @@ int main(int argc, char** argv) ground_truth.head(3) = pose_odom; odom_trajectory.head(3) = pose_odom; - WolfManager* wolf_manager_ceres = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); - WolfManager* wolf_manager_wolf = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); + WolfManager* wolf_manager_ceres = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); + WolfManager* wolf_manager_wolf = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); // Ceres wrapper ceres::Solver::Options ceres_options; diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp index 6f448de29b1ad2c32b840dd8d0f947b7a8b636d2..697f55df87ca5d50661d38fd20450ea56df0f8da 100644 --- a/src/examples/test_ceres_2_lasers.cpp +++ b/src/examples/test_ceres_2_lasers.cpp @@ -127,7 +127,7 @@ int main(int argc, char** argv) ground_truth.head(3) = pose_odom; odom_trajectory.head(3) = pose_odom; - WolfManager* wolf_manager = new WolfManager(PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); + WolfManager* wolf_manager = new WolfManager(FRM_PO_2D, &odom_sensor, pose_odom, Eigen::Matrix3s::Identity() * 0.01, window_size, 0.3); // Ceres wrapper ceres::Solver::Options ceres_options;