diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h index ff144eda4a0032fdcb72870bbc578db1c5cf5471..568b32ff21d8fe9e88226e5cbdcd5a94434a6241 100644 --- a/include/imu/processor/processor_imu.h +++ b/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_;