From 255df9cc9d201c047616bdabeb676da1f9487d2e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Wed, 22 Jan 2020 18:01:37 +0100 Subject: [PATCH] Add toppology --- include/IMU/factor/factor_IMU.h | 5 +++++ include/IMU/factor/factor_fix_bias.h | 5 +++++ 2 files changed, 10 insertions(+) diff --git a/include/IMU/factor/factor_IMU.h b/include/IMU/factor/factor_IMU.h index f2571dadc..3aebd27bd 100644 --- a/include/IMU/factor/factor_IMU.h +++ b/include/IMU/factor/factor_IMU.h @@ -25,6 +25,11 @@ class FactorIMU : public FactorAutodiff<FactorIMU, 15, 3, 4, 3, 6, 3, 4, 3, 6> virtual ~FactorIMU() = default; + virtual 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 diff --git a/include/IMU/factor/factor_fix_bias.h b/include/IMU/factor/factor_fix_bias.h index 31f39fba0..191b87d41 100644 --- a/include/IMU/factor/factor_fix_bias.h +++ b/include/IMU/factor/factor_fix_bias.h @@ -29,6 +29,11 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3> virtual ~FactorFixBias() = default; + virtual std::string getTopology() const override + { + return std::string("ABS"); + } + template<typename T> bool operator ()(const T* const _ab, const T* const _wb, T* _residuals) const; -- GitLab