From fc45b42f838970f0058a33d16d8ec176fce9290d Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Tue, 7 May 2019 12:08:44 +0200
Subject: [PATCH] Refactor emplace FrameBase
---
src/problem/problem.cpp | 5 +----
1 file changed, 1 insertion(+), 4 deletions(-)
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index d6e66ed57..9c361bea5 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -47,7 +47,6 @@ Problem::Problem(const std::string& _frame_structure, SizeEigen _dim) :
dim_ = 3;
} else if (_frame_structure == "POV" and _dim == 3)
{
- std::cout << "HOLA" << std::endl;
state_size_ = 10;
state_cov_size_ = 9;
dim_ = 3;
@@ -326,10 +325,8 @@ Eigen::VectorXs Problem::zeroState()
Eigen::VectorXs state = Eigen::VectorXs::Zero(getFrameStructureSize());
// Set the quaternion identity for 3D states. Set only the real part to 1:
- if (trajectory_ptr_->getFrameStructure() == "PO 3D" ||
- trajectory_ptr_->getFrameStructure() == "POV 3D")
+ if(this->getDim() == 3)
state(6) = 1.0;
-
return state;
}
--
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