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mobile_robotics
wolf_projects
wolf_lib
plugins
imu
Commits
b775d3a6
Commit
b775d3a6
authored
5 years ago
by
Joan Vallvé Navarro
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gtest passed
parent
a993b40b
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3 merge requests
!39
release after RAL
,
!38
After 2nd RAL submission
,
!20
Resolve "Copying measurement and sqrtinfo in FactorBase (multi-threading)"
Changes
2
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2 changed files
include/imu/factor/factor_fix_bias.h
+7
-2
7 additions, 2 deletions
include/imu/factor/factor_fix_bias.h
include/imu/factor/factor_imu.h
+5
-4
5 additions, 4 deletions
include/imu/factor/factor_imu.h
with
12 additions
and
6 deletions
include/imu/factor/factor_fix_bias.h
+
7
−
2
View file @
b775d3a6
...
@@ -21,8 +21,13 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
...
@@ -21,8 +21,13 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
public:
public:
FactorFixBias
(
FeatureBasePtr
_ftr_ptr
,
bool
_apply_loss_function
,
FactorStatus
_status
=
FAC_ACTIVE
)
:
FactorFixBias
(
FeatureBasePtr
_ftr_ptr
,
bool
_apply_loss_function
,
FactorStatus
_status
=
FAC_ACTIVE
)
:
FactorAutodiff
<
FactorFixBias
,
6
,
3
,
3
>
(
"FactorFixBias"
,
FactorAutodiff
<
FactorFixBias
,
6
,
3
,
3
>
(
"FactorFixBias"
,
nullptr
,
nullptr
,
nullptr
,
nullptr
,
nullptr
,
_apply_loss_function
,
_status
,
std
::
static_pointer_cast
<
CaptureImu
>
(
_ftr_ptr
->
getCapture
())
->
getAccBias
(),
_ftr_ptr
,
std
::
static_pointer_cast
<
CaptureImu
>
(
_ftr_ptr
->
getCapture
())
->
getGyroBias
())
nullptr
,
nullptr
,
nullptr
,
nullptr
,
nullptr
,
_apply_loss_function
,
_status
,
std
::
static_pointer_cast
<
CaptureImu
>
(
_ftr_ptr
->
getCapture
())
->
getAccBias
(),
std
::
static_pointer_cast
<
CaptureImu
>
(
_ftr_ptr
->
getCapture
())
->
getGyroBias
())
{
{
// std::cout << "created FactorFixBias " << std::endl;
// std::cout << "created FactorFixBias " << std::endl;
}
}
...
...
This diff is collapsed.
Click to expand it.
include/imu/factor/factor_imu.h
+
5
−
4
View file @
b775d3a6
...
@@ -18,10 +18,10 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>
...
@@ -18,10 +18,10 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>
{
{
public:
public:
FactorImu
(
const
FeatureImuPtr
&
_ftr_ptr
,
FactorImu
(
const
FeatureImuPtr
&
_ftr_ptr
,
const
CaptureImuPtr
&
_capture_origin_ptr
,
const
CaptureImuPtr
&
_capture_origin_ptr
,
const
ProcessorBasePtr
&
_processor_ptr
,
const
ProcessorBasePtr
&
_processor_ptr
,
bool
_apply_loss_function
,
bool
_apply_loss_function
,
FactorStatus
_status
=
FAC_ACTIVE
);
FactorStatus
_status
=
FAC_ACTIVE
);
virtual
~
FactorImu
()
=
default
;
virtual
~
FactorImu
()
=
default
;
...
@@ -160,6 +160,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr,
...
@@ -160,6 +160,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr,
FactorStatus
_status
)
:
FactorStatus
_status
)
:
FactorAutodiff
<
FactorImu
,
15
,
3
,
4
,
3
,
6
,
3
,
4
,
3
,
6
>
(
// ...
FactorAutodiff
<
FactorImu
,
15
,
3
,
4
,
3
,
6
,
3
,
4
,
3
,
6
>
(
// ...
"FactorImu"
,
"FactorImu"
,
_ftr_ptr
,
_cap_origin_ptr
->
getFrame
(),
_cap_origin_ptr
->
getFrame
(),
_cap_origin_ptr
,
_cap_origin_ptr
,
nullptr
,
nullptr
,
...
...
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Click to expand it.
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