From 1a7c393af69223e5760156f23919f0f933adad70 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Thu, 5 Jan 2017 15:15:55 +0100
Subject: [PATCH] added constructors CaptureIMU
---
src/capture_imu.cpp | 15 ++++++++++++---
src/capture_imu.h | 7 ++++++-
2 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/src/capture_imu.cpp b/src/capture_imu.cpp
index 3b2d4f633..f4d09c67d 100644
--- a/src/capture_imu.cpp
+++ b/src/capture_imu.cpp
@@ -3,14 +3,23 @@
namespace wolf {
-CaptureIMU::CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr,
- const Eigen::Vector6s& _acc_gyro_data) :
- CaptureMotion(_init_ts, _sensor_ptr, _acc_gyro_data )
+CaptureIMU::CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _acc_gyro_data,
+ FrameBasePtr _origin_frame_ptr) :
+ CaptureMotion(_init_ts, _sensor_ptr, _acc_gyro_data, _origin_frame_ptr)
{
setType("IMU");
// std::cout << "constructed +C-IMU" << id() << std::endl;
}
+CaptureIMU::CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _acc_gyro_data,
+ const Eigen::MatrixXs& _data_cov, FrameBasePtr _origin_frame_ptr) :
+ CaptureMotion(_init_ts, _sensor_ptr, _acc_gyro_data, _data_cov, _origin_frame_ptr)
+{
+ setType("IMU");
+// std::cout << "constructed +C-IMU" << id() << std::endl;
+}
+
+
CaptureIMU::~CaptureIMU()
{
// std::cout << "destructed -C-IMU" << id() << std::endl;
diff --git a/src/capture_imu.h b/src/capture_imu.h
index 55e8d8848..f38b171bb 100644
--- a/src/capture_imu.h
+++ b/src/capture_imu.h
@@ -12,7 +12,12 @@ class CaptureIMU : public CaptureMotion
{
public:
- CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _data);
+ CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _data,
+ FrameBasePtr _origin_frame_ptr = nullptr);
+
+ CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _data,
+ const Eigen::MatrixXs& _data_cov, FrameBasePtr _origin_frame_ptr = nullptr);
+
virtual ~CaptureIMU();
};
--
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