From 14169564360f56ba44d9c7b9433c12c9635b3de5 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Mon, 28 Nov 2016 11:43:16 +0100
Subject: [PATCH] added method processorMotion::getCurrentDeltaPreintCov()
---
src/processor_motion.h | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/src/processor_motion.h b/src/processor_motion.h
index 943c0fe0e..d23d74709 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -127,9 +127,15 @@ class ProcessorMotion : public ProcessorBase
*/
Eigen::VectorXs& getState(const TimeStamp& _ts);
+ /** \brief Gets a constant reference delta preintegrated covariance from all integrations so far
+ * \return the delta preintegrated covariance matrix
+ */
+ const Eigen::MatrixXs getCurrentDeltaPreintCov();
+
/** \brief Provides the motion integrated so far
* \return a const reference to the integrated delta state
*/
+
const Motion& getMotion() const;
void getMotion(Motion& _motion) const;
@@ -657,6 +663,11 @@ inline void ProcessorMotion::getCurrentState(Eigen::VectorXs& _x, TimeStamp& _ts
_ts = getCurrentTimeStamp();
}
+inline const Eigen::MatrixXs ProcessorMotion::getCurrentDeltaPreintCov()
+{
+ return delta_integrated_cov_;
+}
+
inline const Motion& ProcessorMotion::getMotion() const
{
return getBuffer().get().back();
--
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