diff --git a/src/feature_base.cpp b/src/feature_base.cpp index 5705630559441e8b0af2f5ac497ef5ce56027bea..4650c4111c89d3ce1dedec9be5242f7a7f6aa6db 100644 --- a/src/feature_base.cpp +++ b/src/feature_base.cpp @@ -102,7 +102,7 @@ void FeatureBase::setMeasurementCovariance(const Eigen::MatrixXs & _meas_cov) measurement_sqrt_information_upper_ = computeSqrtUpper(measurement_covariance_.inverse()); } -void FeatureBase::setMeasurementInfo(const Eigen::MatrixXs & _meas_info) +void FeatureBase::setMeasurementInformation(const Eigen::MatrixXs & _meas_info) { assert(_meas_info.determinant() > Constants::EPS_SMALL && "Not positive definite measurement information"); assert((_meas_info - _meas_info.transpose()).cwiseAbs().maxCoeff() < Constants::EPS && "Not symmetric measurement information"); diff --git a/src/feature_base.h b/src/feature_base.h index 0f6d539d75714261fb7dac42f5c971c231cab0cc..ccb51abb7815fefe8a4677e7640046b87f22310d 100644 --- a/src/feature_base.h +++ b/src/feature_base.h @@ -64,7 +64,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature const Eigen::VectorXs& getMeasurement() const; void setMeasurement(const Eigen::VectorXs& _meas); void setMeasurementCovariance(const Eigen::MatrixXs & _meas_cov); - void setMeasurementInfo(const Eigen::MatrixXs & _meas_info); + void setMeasurementInformation(const Eigen::MatrixXs & _meas_info); const Eigen::MatrixXs& getMeasurementCovariance() const; Eigen::MatrixXs getMeasurementInformation() const; const Eigen::MatrixXs& getMeasurementSquareRootInformationUpper() const;