From e049ce55f63911748b15c40cf1a4c60898bbb0f3 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 8 Feb 2021 16:49:17 +0100
Subject: [PATCH] working
---
.gitignore | 1 +
include/imu/factor/factor_fix_bias.h | 6 +-----
include/imu/factor/factor_imu.h | 6 +-----
3 files changed, 3 insertions(+), 10 deletions(-)
diff --git a/.gitignore b/.gitignore
index 91c5366fd..c237d0402 100644
--- a/.gitignore
+++ b/.gitignore
@@ -34,3 +34,4 @@ build_release/
IMU.found
est.csv
+/imu.found
diff --git a/include/imu/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h
index 8d4e54ab6..e989b9b88 100644
--- a/include/imu/factor/factor_fix_bias.h
+++ b/include/imu/factor/factor_fix_bias.h
@@ -21,6 +21,7 @@ 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",
+ TOP_ABS,
_ftr_ptr,
nullptr, nullptr, nullptr, nullptr,
nullptr,
@@ -34,11 +35,6 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
virtual ~FactorFixBias() = default;
- virtual std::string getTopology() const override
- {
- return std::string("ABS");
- }
-
template<typename T>
bool operator ()(const T* const _ab, const T* const _wb, T* _residuals) const;
diff --git a/include/imu/factor/factor_imu.h b/include/imu/factor/factor_imu.h
index 2be43b54d..17c803162 100644
--- a/include/imu/factor/factor_imu.h
+++ b/include/imu/factor/factor_imu.h
@@ -25,11 +25,6 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>
~FactorImu() override = default;
- std::string getTopology() const override
- {
- return std::string("MOTION");
- }
-
/** \brief : compute the residual from the state blocks being iterated by the solver.
-> computes the expected measurement
-> corrects actual measurement with new bias
@@ -163,6 +158,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr,
FactorStatus _status) :
FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>( // ...
"FactorImu",
+ TOP_MOTION,
_ftr_ptr,
_cap_origin_ptr->getFrame(),
_cap_origin_ptr,
--
GitLab