From cc7f2416854c1e5e0f3c78fa3b36ccbabfc61d17 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Fri, 1 Apr 2016 10:23:14 +0200
Subject: [PATCH] bug fixed: changed enum for frame types FRM_PO_2D instead of
 PO_2D

---
 src/examples/solver/test_iQR_wolf2.cpp | 4 ++--
 src/examples/test_autodiff.cpp         | 4 ++--
 src/examples/test_ceres_2_lasers.cpp   | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp
index 9250a851c..ec6dea6e8 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 20a13307f..b1742b639 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 6f448de29..697f55df8 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;
-- 
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