From 7cbf3a0344c8a7b1a04d42b58924a46e306e300d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 20 Jun 2022 15:42:58 +0200
Subject: [PATCH] Recompute states
---
include/imu/processor/processor_imu.h | 2 ++
1 file changed, 2 insertions(+)
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index ff144eda4..568b32ff2 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_;
--
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