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Commit 6595a274 authored by Idril-Tadzio Geer Cousté's avatar Idril-Tadzio Geer Cousté
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changed vector6d to vector3d

parent c8a80514
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Tags v134
3 merge requests!39release after RAL,!38After 2nd RAL submission,!23Processor imu2d
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src/sensor/sensor_imu2d.cpp
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...@@ -11,7 +11,7 @@ SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, ParamsSensorImu2dPt ...@@ -11,7 +11,7 @@ SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, ParamsSensorImu2dPt
} }
SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, const ParamsSensorImu2d& _params) : SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, const ParamsSensorImu2d& _params) :
SensorBase("SensorImu2d", std::make_shared<StateBlock>(_extrinsics.head(2), true), std::make_shared<StateAngle>(_extrinsics(2), true), std::make_shared<StateBlock>(3, false, nullptr), (Eigen::Vector6d()<<_params.a_noise,_params.a_noise,_params.a_noise,_params.w_noise,_params.w_noise,_params.w_noise).finished(), false, false, true), SensorBase("SensorImu2d", std::make_shared<StateBlock>(_extrinsics.head(2), true), std::make_shared<StateAngle>(_extrinsics(2), true), std::make_shared<StateBlock>(3, false, nullptr), (Eigen::Vector3d()<<_params.a_noise,_params.a_noise,_params.w_noise).finished(), false, false, true),
a_noise(_params.a_noise), a_noise(_params.a_noise),
w_noise(_params.w_noise), w_noise(_params.w_noise),
ab_initial_stdev(_params.ab_initial_stdev), ab_initial_stdev(_params.ab_initial_stdev),
......
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