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Commit 0e62e87f authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Make voteForKf const

parent 43384f8f
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3 merge requests!39release after RAL,!38After 2nd RAL submission,!11Add const
...@@ -61,7 +61,7 @@ class ProcessorIMU : public ProcessorMotion{ ...@@ -61,7 +61,7 @@ class ProcessorIMU : public ProcessorMotion{
const Scalar _dt, const Scalar _dt,
Eigen::VectorXs& _x_plus_delta ) const override; Eigen::VectorXs& _x_plus_delta ) const override;
virtual Eigen::VectorXs deltaZero() const override; virtual Eigen::VectorXs deltaZero() const override;
virtual bool voteForKeyFrame() override; virtual bool voteForKeyFrame() const override;
virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own, virtual CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor, const SensorBasePtr& _sensor,
const TimeStamp& _ts, const TimeStamp& _ts,
......
...@@ -32,7 +32,7 @@ ProcessorBasePtr ProcessorIMU::create(const std::string& _unique_name, const Pro ...@@ -32,7 +32,7 @@ ProcessorBasePtr ProcessorIMU::create(const std::string& _unique_name, const Pro
return prc_ptr; return prc_ptr;
} }
bool ProcessorIMU::voteForKeyFrame() bool ProcessorIMU::voteForKeyFrame() const
{ {
// time span // time span
if (getBuffer().get().back().ts_ - getBuffer().get().front().ts_ > params_motion_IMU_->max_time_span) if (getBuffer().get().back().ts_ - getBuffer().get().front().ts_ > params_motion_IMU_->max_time_span)
......
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