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wolf
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0815d807
There was a problem fetching the pipeline metadata.
Commit
0815d807
authored
7 years ago
by
Joan Solà Ortega
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Fix required extrinsics size in assert
parent
af0ade8d
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!189
Fix required extrinsics size in assert
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src/sensor_GPS_fix.cpp
+2
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src/sensor_GPS_fix.cpp
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0815d807
...
...
@@ -13,7 +13,8 @@ SensorGPSFix::SensorGPSFix(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const dou
SensorGPSFix
::
SensorGPSFix
(
const
Eigen
::
VectorXs
&
_extrinsics
,
const
IntrinsicsGPSFix
&
_intrinsics
)
:
SensorBase
(
"GPS FIX"
,
std
::
make_shared
<
StateBlock
>
(
_extrinsics
.
head
(
3
)),
std
::
make_shared
<
StateQuaternion
>
(
_extrinsics
.
tail
(
4
)),
nullptr
,
_intrinsics
.
noise_std
)
{
assert
(
_extrinsics
.
size
()
==
7
&&
"Wrong extrinsics vector size! Should be 7 for 2D."
);
assert
((
_extrinsics
.
size
()
==
2
||
_extrinsics
.
size
()
==
3
)
&&
"Bad extrinsic vector size. Should be 2 for 2D, 3 for 3D."
);
}
SensorGPSFix
::
SensorGPSFix
(
const
Eigen
::
VectorXs
&
_extrinsics
,
IntrinsicsGPSFixPtr
_intrinsics_ptr
)
:
SensorGPSFix
(
_extrinsics
,
*
_intrinsics_ptr
)
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