From 0ed40827d5234a0b56e775a7864337b2aaf2fcc0 Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Mon, 8 Feb 2021 20:44:34 +0100 Subject: [PATCH] adapted to core --- include/imu/factor/factor_imu2d.h | 22 +++++++++------------- 1 file changed, 9 insertions(+), 13 deletions(-) diff --git a/include/imu/factor/factor_imu2d.h b/include/imu/factor/factor_imu2d.h index dff3747be..4e9be3689 100644 --- a/include/imu/factor/factor_imu2d.h +++ b/include/imu/factor/factor_imu2d.h @@ -20,18 +20,13 @@ class FactorImu2d : public FactorAutodiff<FactorImu2d, 8, 2, 1, 2, 3, 2, 1, 2, 3 { public: FactorImu2d(const FeatureImu2dPtr& _ftr_ptr, - const CaptureImuPtr& _capture_origin_ptr, - const ProcessorBasePtr& _processor_ptr, - bool _apply_loss_function, - FactorStatus _status = FAC_ACTIVE); + const CaptureImuPtr& _capture_origin_ptr, + const ProcessorBasePtr& _processor_ptr, + bool _apply_loss_function, + FactorStatus _status = FAC_ACTIVE); ~FactorImu2d() override = default; - std::string getTopology() const override - { - return std::string("MOTION"); - } - /** \brief : compute the residual from the state blocks being iterated by the solver. -> computes the expected measurement -> corrects actual measurement with new bias @@ -97,12 +92,13 @@ class FactorImu2d : public FactorAutodiff<FactorImu2d, 8, 2, 1, 2, 3, 2, 1, 2, 3 ///////////////////// IMPLEMENTAITON //////////////////////////// inline FactorImu2d::FactorImu2d(const FeatureImu2dPtr& _ftr_ptr, - const CaptureImuPtr& _cap_origin_ptr, - const ProcessorBasePtr& _processor_ptr, - bool _apply_loss_function, - FactorStatus _status) : + const CaptureImuPtr& _cap_origin_ptr, + const ProcessorBasePtr& _processor_ptr, + bool _apply_loss_function, + FactorStatus _status) : FactorAutodiff<FactorImu2d, 8, 2, 1, 2, 3, 2, 1, 2, 3>( // ... "FactorImu2d", + TOP_MOTION, _ftr_ptr, _cap_origin_ptr->getFrame(), _cap_origin_ptr, -- GitLab