From 63e79c148773af03803f4237bb041c79a77ee79b Mon Sep 17 00:00:00 2001 From: Jeremie Deray <jeremie.deray@pal-robotics.com> Date: Sat, 15 Oct 2016 14:14:59 +0200 Subject: [PATCH] Motion class explicit default constructor & full args constuctor --- src/motion_buffer.h | 25 +++++++++++++++++++------ 1 file changed, 19 insertions(+), 6 deletions(-) diff --git a/src/motion_buffer.h b/src/motion_buffer.h index db0e34654..c5a7e5288 100644 --- a/src/motion_buffer.h +++ b/src/motion_buffer.h @@ -16,12 +16,25 @@ namespace wolf { struct Motion { - public: - TimeStamp ts_; ///< Time stamp - Eigen::VectorXs delta_; ///< instantaneous motion delta - Eigen::VectorXs delta_integr_; ///< the integrated motion or delta-integral - Eigen::MatrixXs delta_cov_; ///< covariance of the instantaneous delta - Eigen::MatrixXs delta_integr_cov_; ///< covariance of the integrated delta +public: + + Motion() = default; + + Motion(const TimeStamp& _time_stamp, + const Eigen::VectorXs& _delta, const Eigen::VectorXs& _delta_integr, + const Eigen::MatrixXs& _delta_cov, const Eigen::MatrixXs& _delta_integr_cov) : + ts_(_time_stamp), + delta_(_delta), delta_integr_(_delta_integr), + delta_cov_(_delta_cov), delta_integr_cov_(_delta_integr_cov) + { + // + } + + TimeStamp ts_; ///< Time stamp + Eigen::VectorXs delta_; ///< instantaneous motion delta + Eigen::VectorXs delta_integr_; ///< the integrated motion or delta-integral + Eigen::MatrixXs delta_cov_; ///< covariance of the instantaneous delta + Eigen::MatrixXs delta_integr_cov_; ///< covariance of the integrated delta }; ///< One instance of the buffered data, corresponding to a particular time stamp. -- GitLab