diff --git a/.gitignore b/.gitignore index 91c5366fd823c89dcb9024788ac8c419f5337c52..c237d0402877332e46b0dbaeb3a4a12c6283bfe7 100644 --- a/.gitignore +++ b/.gitignore @@ -34,3 +34,4 @@ build_release/ IMU.found est.csv +/imu.found diff --git a/include/imu/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h index 8d4e54ab641d7564e4e555b6d0ccddc1815ee2a1..e989b9b8861fa83d7f0568f2ea545dd50bed647e 100644 --- a/include/imu/factor/factor_fix_bias.h +++ b/include/imu/factor/factor_fix_bias.h @@ -21,6 +21,7 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3> public: FactorFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE) : FactorAutodiff<FactorFixBias, 6, 3, 3>("FactorFixBias", + TOP_ABS, _ftr_ptr, nullptr, nullptr, nullptr, nullptr, nullptr, @@ -34,11 +35,6 @@ 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; diff --git a/include/imu/factor/factor_imu.h b/include/imu/factor/factor_imu.h index 2be43b54d15773093796950d7bb89a9e1581d43d..17c80316246bdd977ed59b4edc0aea6f34dca4f7 100644 --- a/include/imu/factor/factor_imu.h +++ b/include/imu/factor/factor_imu.h @@ -25,11 +25,6 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6> ~FactorImu() 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 @@ -163,6 +158,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr, FactorStatus _status) : FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>( // ... "FactorImu", + TOP_MOTION, _ftr_ptr, _cap_origin_ptr->getFrame(), _cap_origin_ptr,