Recompute states

include/imu/processor/processor_imu.h

@@ -124,9 +124,11 @@ class ProcessorImu : public ProcessorMotion{
                                         const CaptureBasePtr& _capture_origin) override;
         FeatureBasePtr   emplaceFeature(CaptureMotionPtr _capture_motion) override;
         FactorBasePtr    emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override;
+
         virtual void     bootstrap() override;
         CaptureBasePtr   bootstrapOrigin() const;
         VectorXd         bootstrapDelta() const;
+        bool             recomputeStates() const;
 
       protected:
         ParamsProcessorImuPtr    params_motion_Imu_;