diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h index b9849c63bf111fa4d16a8b407dbd73eedc4fc6bb..2c8ff19d9ce262462fe6326baa707699037c0235 100644 --- a/include/core/frame/frame_base.h +++ b/include/core/frame/frame_base.h @@ -63,10 +63,10 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha StateBlockPtr _o_ptr = nullptr, StateBlockPtr _v_ptr = nullptr); - FrameBase(const std::string _frame_structure, - const SizeEigen _dim, - const FrameType & _tp, + FrameBase(const FrameType & _tp, const TimeStamp& _ts, + const std::string _frame_structure, + const SizeEigen _dim, const Eigen::VectorXd& _x); FrameBase(const FrameType & _tp, diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp index 80b63187409c9794b0395809b833a979e80c22b9..97b6a062e343ff54c62735bee4512a8c7f8d220f 100644 --- a/src/frame/frame_base.cpp +++ b/src/frame/frame_base.cpp @@ -89,10 +89,10 @@ FrameBase::FrameBase(const FrameType & _tp, } } -FrameBase::FrameBase(const std::string _frame_structure, - const SizeEigen _dim, - const FrameType & _tp, +FrameBase::FrameBase(const FrameType & _tp, const TimeStamp& _ts, + const std::string _frame_structure, + const SizeEigen _dim, const Eigen::VectorXd& _x) : NodeBase("FRAME", "FrameBase"), HasStateBlocks(_frame_structure), diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp index 89cfa5bbdd8b8a417fe902981f847514c944b743..e6321ff0494ebb817d4a2ecc3a8e51a04cc45d92 100644 --- a/src/problem/problem.cpp +++ b/src/problem/problem.cpp @@ -329,10 +329,10 @@ FrameBasePtr Problem::emplaceFrame(FrameType _frame_key_type, // const Eigen::VectorXd& _frame_state) { auto frm = FrameBase::emplace<FrameBase>(trajectory_ptr_, - _frame_structure, - _dim, _frame_key_type, _time_stamp, + _frame_structure, + _dim, _frame_state); return frm; } diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp index 579875a8b5ea74f6931a349683c0077063efd496..7aab9e5cef754bd1b9942ba5ee37c0d76e684634 100644 --- a/test/gtest_factor_diff_drive.cpp +++ b/test/gtest_factor_diff_drive.cpp @@ -160,16 +160,16 @@ class FactorDiffDriveTest : public testing::Test // frames F0 = FrameBase::emplace<FrameBase>(trajectory, - "PO", - 2, KEY, 0.0, - Vector3d(0,0,0)); - F1 = FrameBase::emplace<FrameBase>(trajectory, "PO", 2, + Vector3d(0,0,0)); + F1 = FrameBase::emplace<FrameBase>(trajectory, KEY, 1.0, + "PO", + 2, Vector3d(1,0,0)); // captures