From 6564d01172b296476cb8c2b689724abd34dc4e53 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Wed, 14 Dec 2016 10:40:51 +0100
Subject: [PATCH] FIXME getJacobian fixed
---
src/processor_imu.h | 4 ++--
src/test/gtest_feature_imu.cpp | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/processor_imu.h b/src/processor_imu.h
index dd9582308..98619262c 100644
--- a/src/processor_imu.h
+++ b/src/processor_imu.h
@@ -79,10 +79,10 @@ class ProcessorIMU : public ProcessorMotion{
virtual void remapPQV(const Eigen::VectorXs& _delta1, const Eigen::VectorXs& _delta2, Eigen::VectorXs& _delta_out);
virtual void remapDelta(Eigen::VectorXs& _delta_out);
virtual void remapData(const Eigen::VectorXs& _data);
- void getJacobians(Eigen::Matrix3s& _dDp_dab, Eigen::Matrix3s& _dDv_dab, Eigen::Matrix3s& _dDp_dwb, Eigen::Matrix3s& _dDv_dwb, Eigen::Matrix3s& _dDq_dwb);
- void getJacobians(Eigen::Matrix<wolf::Scalar,9,6>& _dD_db);
public:
+ void getJacobians(Eigen::Matrix3s& _dDp_dab, Eigen::Matrix3s& _dDv_dab, Eigen::Matrix3s& _dDp_dwb, Eigen::Matrix3s& _dDv_dwb, Eigen::Matrix3s& _dDq_dwb);
+ void getJacobians(Eigen::Matrix<wolf::Scalar,9,6>& _dD_db);
static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr = nullptr);
};
diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp
index 824ff0590..93974c8df 100644
--- a/src/test/gtest_feature_imu.cpp
+++ b/src/test/gtest_feature_imu.cpp
@@ -86,7 +86,7 @@ class FeatureIMU_test : public testing::Test
delta_preint_cov = wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentDeltaPreintCov();
delta_preint = wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().delta_integr_;
feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
- //wolf_problem_ptr_->getProcessorMotionPtr()->getJacobians(dD_db_jacobians); FIXME
+ std::static_pointer_cast<wolf::ProcessorIMU>(wolf_problem_ptr_->getProcessorMotionPtr())->getJacobians(dD_db_jacobians);
//feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, dD_db_jacobians);
feat_imu->setCapturePtr(imu_ptr); //associate the feature to a capture
--
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