From 0815d8073dbf4035fa1591839d202812479050a1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 21 Mar 2018 20:25:58 +0100
Subject: [PATCH] Fix required extrinsics size in assert
---
src/sensor_GPS_fix.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/sensor_GPS_fix.cpp b/src/sensor_GPS_fix.cpp
index b97e43c49..b259eecc0 100644
--- a/src/sensor_GPS_fix.cpp
+++ b/src/sensor_GPS_fix.cpp
@@ -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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