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Commit 482dc360 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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1 merge request!411Draft: Resolve "SensorBase: extrinsic and intrinsic initialization and prior"
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    This commit is part of merge request !411. Comments created here will be created in the context of that merge request.
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    src/sensor/sensor_base.cpp
    + 2
    − 34
    Edit View file @ 482dc360
    #include "core/sensor/sensor_base.h"
    #include "core/state_block/state_block.h"
    #include "core/state_block/state_angle.h"
    #include "core/state_block/state_quaternion.h"
    #include "core/factor/factor_block_absolute.h"
    #include "core/factor/factor_quaternion_absolute.h"
    ......@@ -30,7 +31,7 @@ SensorBase::SensorBase(const std::string& _type,
    (key != 'O' ?
    std::make_shared<StateBlock>(sb_param.state,sb_param.prior_mode == "fix") :
    (_params->dim == 2 ?
    std::static_pointer_cast<StateBlock>(std::make_shared<StateAngle>(sb_param.state, sb_param.prior_mode == "fix")) :
    std::static_pointer_cast<StateBlock>(std::make_shared<StateAngle>(sb_param.state(0), sb_param.prior_mode == "fix")) :
    std::static_pointer_cast<StateBlock>(std::make_shared<StateQuaternion>(sb_param.state,sb_param.prior_mode == "fix")) ) ),
    sb_param.dynamic);
    ......@@ -39,39 +40,6 @@ SensorBase::SensorBase(const std::string& _type,
    sb_param.state,
    sb_param.sigma.asDiagonal());
    }
    /*// P
    addStateBlock('P',
    std::make_shared<StateBlock>(_params->state_blocks.at('P').state,
    _params->state_blocks.at('P').prior_mode == "fix"),
    _params->state_blocks.at('P').dynamic);
    if (_params->state_blocks.at('P').prior_mode == "factor")
    addPriorP(_params->state_blocks.at('P').state, _params->state_blocks.at('P').sigma.asDiagonal());
    // O
    addStateBlock('O',
    (_params->dim == 2 ?
    std::make_shared<StateAngle>(_params->state_blocks.at('O').state,
    _params->state_blocks.at('O').prior_mode == "fix") :
    std::make_shared<StateQuaternion>(_params->state_blocks.at('O').state,
    _params->state_blocks.at('O').prior_mode == "fix") ),
    _params->o_dynamic);
    if (_params->state_blocks.at('O').prior_mode == "factor")
    addPriorO(_params->p_state, _params->p_cov);
    // I
    if (_intrinsics_size != 0)
    {
    addStateBlock('I',
    std::make_shared<StateBlock>(_params->state_blocks.at('I').state,
    _params->state_blocks.at('I').prior_mode == "fix"),
    _params->state_blocks.at('I').dynamic);
    if (_params->state_blocks.at('I').prior_mode == "factor")
    addPriorI(_params->state_blocks.at('I').state, _params->state_blocks.at('I').sigma.asDiagonal());
    }*/
    }
    SensorBase::SensorBase(const std::string& _type,
    ......
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