From e6fbad2c4d1d95232b1a01d7df97717faceaee55 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 24 Jun 2022 13:16:39 +0200
Subject: [PATCH] Use derived SBs
---
src/sensor/sensor_compass.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/sensor/sensor_compass.cpp b/src/sensor/sensor_compass.cpp
index 43171641a..b474c523b 100644
--- a/src/sensor/sensor_compass.cpp
+++ b/src/sensor/sensor_compass.cpp
@@ -20,7 +20,7 @@
//
//--------LICENSE_END--------
#include "imu/sensor/sensor_compass.h"
-#include "core/state_block/state_block.h"
+#include "core/state_block/state_block_derived.h"
#include "core/state_block/state_quaternion.h"
namespace wolf
@@ -29,10 +29,10 @@ namespace wolf
SensorCompass::SensorCompass(const Eigen::VectorXd& _extrinsics,
ParamsSensorCompassPtr _params) :
SensorBase("SensorCompass",
- std::make_shared<StateBlock>(_extrinsics.head(3), true),
- std::make_shared<StateQuaternion>(_extrinsics.tail(4), true),
- std::make_shared<StateBlock>(_params->bias_prior_state,
- _params->bias_prior_mode == "fix"),
+ std::make_shared<StatePoint3d>(_extrinsics.head(3), true, false),
+ std::make_shared<StateQuaternion>(_extrinsics.tail(4), true, false),
+ std::make_shared<StateParams3>(_params->bias_prior_state,
+ _params->bias_prior_mode == "fix"),
3,
false, // P static
false, // O static
@@ -46,8 +46,8 @@ SensorCompass::SensorCompass(const Eigen::VectorXd& _extrinsics,
// Global Magnetic Field 'F' state block
addStateBlock('F',
- std::make_shared<StateBlock>(params_compass_->field_prior_state,
- params_compass_->field_prior_mode == "fix"));
+ std::make_shared<StateParams3>(params_compass_->field_prior_state,
+ params_compass_->field_prior_mode == "fix"));
if (params_compass_->field_prior_mode == "factor")
addPriorParameter('F',
--
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