From 087a4fa712780b3b2bcef487343263e4f0948011 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 20 Jun 2022 09:46:16 +0200
Subject: [PATCH] Fix wrong bias size in constructor
---
src/capture/capture_imu.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/capture/capture_imu.cpp b/src/capture/capture_imu.cpp
index 057eb1211..14a604c92 100644
--- a/src/capture/capture_imu.cpp
+++ b/src/capture/capture_imu.cpp
@@ -63,7 +63,7 @@ CaptureImu::CaptureImu(const TimeStamp& _init_ts,
_capture_origin_ptr,
nullptr,
nullptr,
- (_bias.size() == 2)
+ (_bias.size() == 3)
? std::static_pointer_cast<StateBlock>(std::make_shared<StateParams3>(Vector3d::Zero(), false))
: std::static_pointer_cast<StateBlock>(std::make_shared<StateParams6>(Vector6d::Zero(), false)))
{
--
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