From 19925d89a728b14710f598b28ddfb9b5f03ca642 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 6 Aug 2017 20:13:47 +0200
Subject: [PATCH] Put pointers in correct place in constructor
---
src/constraint_imu.h | 3 ++-
src/constraint_sparse.h | 2 +-
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/constraint_imu.h b/src/constraint_imu.h
index a0341999a..7ae0c07b7 100644
--- a/src/constraint_imu.h
+++ b/src/constraint_imu.h
@@ -141,8 +141,9 @@ class ConstraintIMU : public ConstraintSparse<15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>
const Eigen::Matrix3s sqrt_W_r_dt_inv;
};
-inline ConstraintIMU::ConstraintIMU(const ProcessorBasePtr& _processor_ptr, const FeatureIMUPtr& _ftr_ptr,
+inline ConstraintIMU::ConstraintIMU(const FeatureIMUPtr& _ftr_ptr,
const FrameIMUPtr& _frame_ptr,
+ const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function, ConstraintStatus _status) :
ConstraintSparse<15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>(CTR_IMU, _frame_ptr, nullptr, nullptr, _processor_ptr, _apply_loss_function, _status,
_frame_ptr->getPPtr(), _frame_ptr->getOPtr(), _frame_ptr->getVPtr(),
diff --git a/src/constraint_sparse.h b/src/constraint_sparse.h
index 366a2f474..3ba6ecac2 100644
--- a/src/constraint_sparse.h
+++ b/src/constraint_sparse.h
@@ -185,7 +185,7 @@ ConstraintSparse<RESIDUAL_SIZE,
StateBlockPtr _state7Ptr,
StateBlockPtr _state8Ptr,
StateBlockPtr _state9Ptr ) :
- ConstraintBase(_tp, _processor_ptr, _frame_other_ptr, _feature_other_ptr, _landmark_other_ptr, _apply_loss_function, _status),
+ ConstraintBase(_tp, _frame_other_ptr, _feature_other_ptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status),
state_ptr_vector_({_state0Ptr,_state1Ptr,_state2Ptr,_state3Ptr,_state4Ptr,_state5Ptr,_state6Ptr,_state7Ptr,_state8Ptr,_state9Ptr}),
state_block_sizes_vector_({BLOCK_0_SIZE,BLOCK_1_SIZE,BLOCK_2_SIZE,BLOCK_3_SIZE,BLOCK_4_SIZE,BLOCK_5_SIZE,BLOCK_6_SIZE,BLOCK_7_SIZE,BLOCK_8_SIZE,BLOCK_9_SIZE})
{
--
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