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Commit 0815d807 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Fix required extrinsics size in assert

parent af0ade8d
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1 merge request!189Fix required extrinsics size in assert
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......@@ -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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