From cb08d23ca963d879376e715ac336425221eeb1ae Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 16 Jun 2020 11:34:27 +0200
Subject: [PATCH] Key string --> char
---
src/processor/processor_odom_icp.cpp | 2 +-
src/processor/processor_tracker_feature_polyline_2d.cpp | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index 0cdbe27ec..4ec5e9adb 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -236,7 +236,7 @@ void ProcessorOdomIcp::advanceDerived()
// overwrite last frame's state
- Isometry2d w_T_ro = Translation2d(origin_ptr_->getFrame()->getState().at("P")) * Rotation2Dd(origin_ptr_->getFrame()->getState().at("O")(0));
+ Isometry2d w_T_ro = Translation2d(origin_ptr_->getFrame()->getState().at('P')) * Rotation2Dd(origin_ptr_->getFrame()->getState().at('O')(0));
Isometry2d ro_T_so = Translation2d(origin_ptr_->getSensorP()->getState()) * Rotation2Dd(origin_ptr_->getSensorO()->getState()(0));
Isometry2d& ri_T_si = ro_T_so; // A reference just to have nice names without computing overhead
diff --git a/src/processor/processor_tracker_feature_polyline_2d.cpp b/src/processor/processor_tracker_feature_polyline_2d.cpp
index fefda45e8..fc7ef5466 100644
--- a/src/processor/processor_tracker_feature_polyline_2d.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2d.cpp
@@ -1310,8 +1310,8 @@ void ProcessorTrackerFeaturePolyline2d::computeTransformations()
Eigen::Matrix2d R_world_robot_last = Eigen::Rotation2Dd(vehicle_pose_last(2)).matrix();
// robot_sensor (to be computed once if extrinsics are fixed and not dynamic)
- if (getSensor()->isStateBlockDynamic("P") ||
- getSensor()->isStateBlockDynamic("O") ||
+ if (getSensor()->isStateBlockDynamic('P') ||
+ getSensor()->isStateBlockDynamic('O') ||
!getSensor()->getP()->isFixed() ||
!getSensor()->getO()->isFixed() ||
!extrinsics_transformation_computed_)
--
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