From e5d9b86070cdac0b8bd43183a6804e5a5d8a59ff Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 19 Jun 2022 11:48:40 +0200
Subject: [PATCH] make intrinsics and extrinsics non transformable

---
 src/capture/capture_imu.cpp | 4 ++--
 src/sensor/sensor_imu.cpp   | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/capture/capture_imu.cpp b/src/capture/capture_imu.cpp
index f8a4b0b41..743caaf80 100644
--- a/src/capture/capture_imu.cpp
+++ b/src/capture/capture_imu.cpp
@@ -38,7 +38,7 @@ CaptureImu::CaptureImu(const TimeStamp& _init_ts,
                               _capture_origin_ptr,
                               nullptr,
                               nullptr,
-                              std::make_shared<StateBlock>((_sensor_ptr->getProblem()->getDim() == 2 ? 3 : 6), false))
+                              std::make_shared<StateBlock>((_sensor_ptr->getProblem()->getDim() == 2 ? 3 : 6), false, nullptr, false))
 {
     //
 }
@@ -57,7 +57,7 @@ CaptureImu::CaptureImu(const TimeStamp& _init_ts,
                               _capture_origin_ptr,
                               nullptr,
                               nullptr,
-                              std::make_shared<StateBlock>(_bias, false))
+                              std::make_shared<StateBlock>(_bias, false, nullptr, false))
 {
     assert((_bias.size() == 3) or (_bias.size() == 6));
 }
diff --git a/src/sensor/sensor_imu.cpp b/src/sensor/sensor_imu.cpp
index bb6ec35e0..0a0b034b8 100644
--- a/src/sensor/sensor_imu.cpp
+++ b/src/sensor/sensor_imu.cpp
@@ -33,9 +33,9 @@ SensorImu::SensorImu(const Eigen::VectorXd& _extrinsics, ParamsSensorImuPtr _par
 
 SensorImu::SensorImu(const Eigen::VectorXd& _extrinsics, const ParamsSensorImu& _params) :
         SensorBase("SensorImu",
-                   std::make_shared<StateBlock>(_extrinsics.head(3), true),
-                   std::make_shared<StateQuaternion>(_extrinsics.tail(4), true),
-                   std::make_shared<StateBlock>(6, false, nullptr),
+                   std::make_shared<StateBlock>(_extrinsics.head(3), true, nullptr, false),
+                   std::make_shared<StateQuaternion>(_extrinsics.tail(4), true, false),
+                   std::make_shared<StateBlock>(6, false, nullptr, false),
                    (Eigen::Vector6d()<<_params.a_noise,_params.a_noise,_params.a_noise,_params.w_noise,_params.w_noise,_params.w_noise).finished(),
                    false, false, true),
         a_noise(_params.a_noise),
-- 
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