Merge branch 'hotfix_ConstraintFixBias' into 'master'

Hotfix constraint fix bias

See merge request mobile_robotics/wolf!155

src/constraint_fix_bias.h

@@ -5,8 +5,8 @@
 //Wolf includes
 #include "constraint_autodiff.h"
 #include "frame_base.h"
-#include "frame_imu.h"
 #include "rotations.h"
+#include "capture_imu.h"
 #include "feature_imu.h"
 
 //#include "ceres/jet.h"
@@ -21,8 +21,8 @@ class ConstraintFixBias: public ConstraintAutodiff<ConstraintFixBias,6,3,3>
 {
     public:
         ConstraintFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function = false, ConstraintStatus _status = CTR_ACTIVE) :
-                ConstraintAutodiff<ConstraintFixBias, 6, 3, 3>(CTR_FIX_BIAS, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, std::static_pointer_cast<FrameIMU>(_ftr_ptr->getFramePtr())->getAccBiasPtr(),
-                                          std::static_pointer_cast<FrameIMU>(_ftr_ptr->getFramePtr())->getGyroBiasPtr())
+                ConstraintAutodiff<ConstraintFixBias, 6, 3, 3>(CTR_FIX_BIAS, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, std::static_pointer_cast<CaptureIMU>(_ftr_ptr->getCapturePtr())->getAccBiasPtr(),
+                                          std::static_pointer_cast<CaptureIMU>(_ftr_ptr->getCapturePtr())->getGyroBiasPtr())
         {
             setType("FIX BIAS");
             // std::cout << "created ConstraintFixBias " << std::endl;