From b775d3a6376470f0de41c48bd253197b752c46cb Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 3 Jun 2020 19:05:23 +0200
Subject: [PATCH] gtest passed
---
include/imu/factor/factor_fix_bias.h | 9 +++++++--
include/imu/factor/factor_imu.h | 9 +++++----
2 files changed, 12 insertions(+), 6 deletions(-)
diff --git a/include/imu/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h
index 85a30d524..788a81abe 100644
--- a/include/imu/factor/factor_fix_bias.h
+++ b/include/imu/factor/factor_fix_bias.h
@@ -21,8 +21,13 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
public:
FactorFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE) :
FactorAutodiff<FactorFixBias, 6, 3, 3>("FactorFixBias",
- 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())
+ _ftr_ptr,
+ 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;
}
diff --git a/include/imu/factor/factor_imu.h b/include/imu/factor/factor_imu.h
index c9de67336..307aa61b8 100644
--- a/include/imu/factor/factor_imu.h
+++ b/include/imu/factor/factor_imu.h
@@ -18,10 +18,10 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>
{
public:
FactorImu(const FeatureImuPtr& _ftr_ptr,
- const CaptureImuPtr& _capture_origin_ptr,
- const ProcessorBasePtr& _processor_ptr,
- bool _apply_loss_function,
- FactorStatus _status = FAC_ACTIVE);
+ const CaptureImuPtr& _capture_origin_ptr,
+ const ProcessorBasePtr& _processor_ptr,
+ bool _apply_loss_function,
+ FactorStatus _status = FAC_ACTIVE);
virtual ~FactorImu() = default;
@@ -160,6 +160,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr,
FactorStatus _status) :
FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>( // ...
"FactorImu",
+ _ftr_ptr,
_cap_origin_ptr->getFrame(),
_cap_origin_ptr,
nullptr,
--
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