From cf80004f357cf82c93855f566a35344b2c98aba2 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Tue, 28 Jun 2022 16:42:49 +0200
Subject: [PATCH] [skip-ci] Fix bootstrap getState
---
src/processor/processor_imu.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index b72182fcd..2446e1d7e 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -268,9 +268,9 @@ void ProcessorImu::bootstrap()
if (t_current - first_capture->getTimeStamp() >= params_motion_Imu_->bootstrap_averaging_length)
{
// get initial IMU frame 's' expressed in local world frame 'l'
- Map<const Quaterniond> q_l_r(first_capture->getFrame()->getStateVector("O").data());
- Map<const Quaterniond> q_r_s(first_capture->getSensor()->getStateVector("O").data());
- const auto& q_l_s = q_l_r * q_r_s;
+ Quaterniond q_l_r; q_l_r.coeffs() = first_capture->getFrame()->getO()->getState();
+ Quaterniond q_r_s; q_r_s.coeffs() = first_capture->getSensor()->getO()->getState();
+ const auto& q_l_s = q_l_r * q_r_s;
// Compute total integrated delta during bootstrap period
VectorXd delta_int = bootstrapDelta();
@@ -317,9 +317,9 @@ void ProcessorImu::bootstrap()
if (t_current - first_capture->getTimeStamp() >= params_motion_Imu_->bootstrap_averaging_length)
{
// get initial IMU frame 's' expressed in local world frame 'l'
- Map<const Quaterniond> q_l_r(first_capture->getFrame()->getStateVector("O").data());
- Map<const Quaterniond> q_r_s(first_capture->getSensor()->getStateVector("O").data());
- const auto& q_l_s = q_l_r * q_r_s;
+ Quaterniond q_l_r; q_l_r.coeffs() = first_capture->getFrame()->getO()->getState();
+ Quaterniond q_r_s; q_r_s.coeffs() = first_capture->getSensor()->getO()->getState();
+ const auto& q_l_s = q_l_r * q_r_s;
// Compute total integrated delta during bootstrap period
VectorXd delta_int = bootstrapDelta();
--
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