diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h index 2338f699de73d38c74ce13509cdc0b70a1a82130..d936a99d6c1d64f29fda2c5aeca1806e0065c4d1 100644 --- a/include/core/factor/factor_diff_drive.h +++ b/include/core/factor/factor_diff_drive.h @@ -140,10 +140,12 @@ inline bool FactorDiffDrive::operator ()(const T* const _p1, const T* const _o1, inline Eigen::VectorXd FactorDiffDrive::residual() { VectorXd residual(3); - operator ()(getFrameOther()->getP()->getState().data(), getFrameOther()->getO()->getState().data(), - getCapture()->getFrame()->getP()->getState().data(), - getCapture()->getFrame()->getO()->getState().data(), - getCaptureOther()->getSensorIntrinsic()->getState().data(), residual.data()); + operator ()(getFrameOther() ->getP() ->getState() .data(), + getFrameOther() ->getO() ->getState() .data(), + getFrame() ->getP() ->getState() .data(), + getFrame() ->getO() ->getState() .data(), + getCaptureOther() ->getSensorIntrinsic() ->getState() .data(), + residual.data()); return residual; }