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Commit 0c5daca5 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Adapt to new API of MotionBuffer

parent bba92a3c
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2 merge requests!39release after RAL,!38After 2nd RAL submission
......@@ -238,7 +238,7 @@ class Process_Factor_IMU : public testing::Test
*/
static MotionBuffer integrateDeltaTrajectory(const Quaternions& q0, const MatrixXs& motion, const VectorXs& bias_real, const VectorXs& bias_preint, Scalar dt, Matrix<Scalar, 9, 6>& J_D_b)
{
MotionBuffer trajectory(6, 10, 9);
MotionBuffer trajectory;
VectorXs Delta(10);
MatrixXs M9(9,9), M6(6,6), J9(9,9), J96(9,6), V10(10,1), V6(6,1);
Quaternions q;
......
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