From ce335c15d15304cbcfa3bf6d0d7955750786c8f7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0=20Ortega?= <jsola@iri.upc.edu> Date: Thu, 14 May 2020 15:29:58 +0200 Subject: [PATCH] Update processor_gnss_fix.cpp: fix bug on orientation --- src/processor/processor_gnss_fix.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp index 77c6cb04a..cfedb4da6 100644 --- a/src/processor/processor_gnss_fix.cpp +++ b/src/processor/processor_gnss_fix.cpp @@ -167,7 +167,7 @@ bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac) auto gnss_ftr = std::static_pointer_cast<FeatureGnssFix>(fac->getFeature()); // copy states Eigen::VectorXd x(gnss_ftr->getCapture()->getFrame()->getP()->getState()); - Eigen::VectorXd o(gnss_ftr->getCapture()->getFrame()->getP()->getState()); + Eigen::VectorXd o(gnss_ftr->getCapture()->getFrame()->getO()->getState()); Eigen::VectorXd x_antena(sensor_gnss_->getP()->getState()); Eigen::VectorXd t_ENU_map(sensor_gnss_->getEnuMapTranslation()->getState()); Eigen::VectorXd roll_ENU_map(sensor_gnss_->getEnuMapRoll()->getState()); -- GitLab