Make bias static by default

src/sensor/sensor_imu2d.cpp

@@ -37,10 +37,10 @@ SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, const ParamsSensorI
                  std::make_shared<StatePoint2d>(_extrinsics.head(2), true, false),
                  std::make_shared<StateAngle>(_extrinsics(2), true, false),
                  std::make_shared<StateParams3>(Vector3d::Zero(3), false),
-                 (Eigen::Vector3d() << _params.a_noise, _params.a_noise, _params.w_noise).finished(),
+                 Eigen::Vector3d(_params.a_noise, _params.a_noise, _params.w_noise),
                  false,
                  false,
-                 true),
+                 false),
       a_noise(_params.a_noise),
       w_noise(_params.w_noise),
       ab_initial_stdev(_params.ab_initial_stdev),