From 004b759f2b5709dffe248b0880f8031d35ff12a0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 2 Sep 2022 08:38:16 +0200
Subject: [PATCH] Make bias static by default
---
src/sensor/sensor_imu2d.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/sensor/sensor_imu2d.cpp b/src/sensor/sensor_imu2d.cpp
index ca6130465..3fe55da10 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/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),
--
GitLab