diff --git a/include/IMU/capture/capture_IMU.h b/include/IMU/capture/capture_IMU.h index 08257612c82c3b69b9933ccdf00628319d8fb82a..513a2308bac4b9a43f75b8bcf42177a2bc302274 100644 --- a/include/IMU/capture/capture_IMU.h +++ b/include/IMU/capture/capture_IMU.h @@ -17,14 +17,14 @@ class CaptureIMU : public CaptureMotion SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _data, const Eigen::MatrixXs& _data_cov, - FrameBasePtr _origin_frame_ptr = nullptr); + CaptureBasePtr _origin_capture = nullptr); CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _data, const Eigen::MatrixXs& _data_cov, const Vector6s& _bias, - FrameBasePtr _origin_frame_ptr = nullptr); + CaptureBasePtr _origin_capture = nullptr); virtual ~CaptureIMU(); diff --git a/include/IMU/processor/processor_IMU.h b/include/IMU/processor/processor_IMU.h index 59f87aa68961348e0033797483e07ab6709a5a84..26db0958fc89f89729757f0ae4bfbdc36fe52547 100644 --- a/include/IMU/processor/processor_IMU.h +++ b/include/IMU/processor/processor_IMU.h @@ -69,7 +69,7 @@ class ProcessorIMU : public ProcessorMotion{ const MatrixXs& _data_cov, const VectorXs& _calib, const VectorXs& _calib_preint, - const FrameBasePtr& _frame_origin) override; + const CaptureBasePtr& _capture_origin) override; virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override; virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override; diff --git a/src/capture/capture_IMU.cpp b/src/capture/capture_IMU.cpp index 5707723aea4f4b20f39c2fc3c59539922cebf429..fb624e57a7c9c5d14fbccc983ad7dc89aedd8002 100644 --- a/src/capture/capture_IMU.cpp +++ b/src/capture/capture_IMU.cpp @@ -8,8 +8,8 @@ CaptureIMU::CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _acc_gyro_data, const Eigen::MatrixXs& _data_cov, - FrameBasePtr _origin_frame_ptr) : - CaptureMotion("IMU", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _origin_frame_ptr, nullptr, nullptr, std::make_shared<StateBlock>(6, false)) + CaptureBasePtr _origin_capture) : + CaptureMotion("IMU", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _origin_capture, nullptr, nullptr, std::make_shared<StateBlock>(6, false)) { // } @@ -19,8 +19,8 @@ CaptureIMU::CaptureIMU(const TimeStamp& _init_ts, const Eigen::Vector6s& _acc_gyro_data, const Eigen::MatrixXs& _data_cov, const Vector6s& _bias, - FrameBasePtr _origin_frame_ptr) : - CaptureMotion("IMU", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _origin_frame_ptr, nullptr, nullptr, std::make_shared<StateBlock>(_bias, false)) + CaptureBasePtr _origin_capture) : + CaptureMotion("IMU", _init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, 10, 9, _origin_capture, nullptr, nullptr, std::make_shared<StateBlock>(_bias, false)) { // } diff --git a/src/processor/processor_IMU.cpp b/src/processor/processor_IMU.cpp index 2d83320e714ff9c8d37768cb5946941de4807776..afd12e4495d5abed332934c48ee8bab9babde1d7 100644 --- a/src/processor/processor_IMU.cpp +++ b/src/processor/processor_IMU.cpp @@ -65,14 +65,14 @@ CaptureMotionPtr ProcessorIMU::emplaceCapture(const FrameBasePtr& _frame_own, const MatrixXs& _data_cov, const VectorXs& _calib, const VectorXs& _calib_preint, - const FrameBasePtr& _frame_origin) + const CaptureBasePtr& _capture_origin) { auto cap_motion = std::static_pointer_cast<CaptureMotion>(CaptureBase::emplace<CaptureIMU>(_frame_own, _ts, _sensor, _data, _data_cov, - _frame_origin)); + _capture_origin)); cap_motion->setCalibration(_calib); cap_motion->setCalibrationPreint(_calib_preint);