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Commit 5c5783eb authored by Joan Solà Ortega's avatar Joan Solà Ortega
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WIP start migration of prior() things

parent 025b5686
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1 merge request!366Resolve "Complete state vector new data structure?"
Pipeline #5541 failed
...@@ -967,30 +967,30 @@ void Problem::setPriorOptions(const std::string& _mode, ...@@ -967,30 +967,30 @@ void Problem::setPriorOptions(const std::string& _mode,
const VectorComposite& _state , const VectorComposite& _state ,
const MatrixComposite& _cov ) const MatrixComposite& _cov )
{ {
// assert(prior_options_ != nullptr && "prior options have already been applied"); assert(prior_options_ != nullptr && "prior options have already been applied");
// assert(prior_options_->mode == "" && "prior options have already been set"); assert(prior_options_->mode == "" && "prior options have already been set");
// assert((_mode == "nothing" || _mode == "initial_guess" || _mode == "fix" || _mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'"); assert((_mode == "nothing" || _mode == "initial_guess" || _mode == "fix" || _mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'");
//
// // Store options (optionals depending on the mode) // Store options (optionals depending on the mode)
// WOLF_TRACE("prior mode: ", _mode); WOLF_TRACE("prior mode: ", _mode);
// prior_options_->mode = _mode; prior_options_->mode = _mode;
//
// if (prior_options_->mode != "nothing") if (prior_options_->mode != "nothing")
// { {
// assert(_time_tolerance > 0 && "time tolerance should be bigger than 0"); assert(_time_tolerance > 0 && "time tolerance should be bigger than 0");
//
// WOLF_TRACE("prior state: ", _state.transpose()); WOLF_TRACE("prior state: ", _state);
// WOLF_TRACE("prior time tolerance: ", _time_tolerance); WOLF_TRACE("prior time tolerance: ", _time_tolerance);
// prior_options_->state = _state; prior_options_->state = _state;
// prior_options_->time_tolerance = _time_tolerance; prior_options_->time_tolerance = _time_tolerance;
//
// if (prior_options_->mode == "factor") if (prior_options_->mode == "factor")
// { {
// assert(isCovariance(_cov) && "cov is not a covariance matrix (symmetric and Pos Def)"); assert(isCovariance(_cov) && "cov is not a covariance matrix (symmetric and Pos Def)");
// WOLF_TRACE("prior covariance:\n" , _cov); WOLF_TRACE("prior covariance:\n" , _cov);
// prior_options_->cov = _cov; prior_options_->cov = _cov;
// } }
// } }
} }
FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts) FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts)
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