From 38a5f8a7013def0548a6be5db3fb89318bad7575 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Sat, 9 Dec 2017 18:18:04 +0100
Subject: [PATCH] add ConstraintAbs(P/O/V) for priors
---
src/constraint_absolute_orientation.h | 6 +++---
src/constraint_absolute_position.h | 2 +-
src/constraint_absolute_velocity.h | 2 +-
3 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/constraint_absolute_orientation.h b/src/constraint_absolute_orientation.h
index ab1cc4605..96e316f47 100644
--- a/src/constraint_absolute_orientation.h
+++ b/src/constraint_absolute_orientation.h
@@ -13,12 +13,12 @@ namespace wolf {
WOLF_PTR_TYPEDEFS(ConstraintAbsO);
//class
-class ConstraintAbsO: public ConstraintAutodiff<ConstraintAbsO,6,3,4>
+class ConstraintAbsO: public ConstraintAutodiff<ConstraintAbsO,3,4>
{
public:
ConstraintAbsO(FeatureBasePtr _ftr_ptr, bool _apply_loss_function = false, ConstraintStatus _status = CTR_ACTIVE) :
- ConstraintAutodiff<ConstraintAbsO,3,4>(CTR_ABS_Q, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, _ftr_ptr->getFramePtr()->getOPtr())
+ ConstraintAutodiff<ConstraintAbsO,3,4>(CTR_ABS_O, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, _ftr_ptr->getFramePtr()->getOPtr())
{
setType("ABS O");
}
@@ -26,7 +26,7 @@ class ConstraintAbsO: public ConstraintAutodiff<ConstraintAbsO,6,3,4>
virtual ~ConstraintAbsO() = default;
template<typename T>
- bool operator ()(const T* const _p, const T* const _o, T* _residuals) const;
+ bool operator ()(const T* const _o, T* _residuals) const;
virtual JacobianMethod getJacobianMethod() const override
{
diff --git a/src/constraint_absolute_position.h b/src/constraint_absolute_position.h
index 4721930d7..8ef0c227a 100644
--- a/src/constraint_absolute_position.h
+++ b/src/constraint_absolute_position.h
@@ -12,7 +12,7 @@ namespace wolf {
WOLF_PTR_TYPEDEFS(ConstraintAbsP);
//class
-class ConstraintAbsP: public ConstraintAutodiff<ConstraintAbsP,6,3>
+class ConstraintAbsP: public ConstraintAutodiff<ConstraintAbsP,3,3>
{
public:
diff --git a/src/constraint_absolute_velocity.h b/src/constraint_absolute_velocity.h
index 6e4d136ec..b1bc1799e 100644
--- a/src/constraint_absolute_velocity.h
+++ b/src/constraint_absolute_velocity.h
@@ -12,7 +12,7 @@ namespace wolf {
WOLF_PTR_TYPEDEFS(ConstraintAbsV);
//class
-class ConstraintAbsV: public ConstraintAutodiff<ConstraintAbsV,6,3>
+class ConstraintAbsV: public ConstraintAutodiff<ConstraintAbsV,3,3>
{
public:
--
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