From 6595a274739fb8003dd61c36805eae01ae0d278e Mon Sep 17 00:00:00 2001
From: Idril Geer <igeer@iri.upc.edu>
Date: Tue, 9 Mar 2021 16:14:48 +0100
Subject: [PATCH] changed vector6d to vector3d
---
src/sensor/sensor_imu2d.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/sensor/sensor_imu2d.cpp b/src/sensor/sensor_imu2d.cpp
index 9e971ae9a..5b4c94103 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/src/sensor/sensor_imu2d.cpp
@@ -11,7 +11,7 @@ SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, ParamsSensorImu2dPt
}
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),
w_noise(_params.w_noise),
ab_initial_stdev(_params.ab_initial_stdev),
--
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