From 7569c37536ef2587ab0ecf2312f07ba76849b5e9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Tue, 13 Aug 2019 15:02:00 +0200 Subject: [PATCH] Update landmark_base.cpp --- src/landmark/landmark_base.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp index 3da95fb8d..7f360a196 100644 --- a/src/landmark/landmark_base.cpp +++ b/src/landmark/landmark_base.cpp @@ -3,6 +3,7 @@ #include "core/factor/factor_base.h" #include "core/map/map_base.h" #include "core/state_block/state_block.h" +#include "core/state_block/state_angle.h" #include "core/state_block/state_quaternion.h" #include "core/common/factory.h" #include "core/yaml/yaml_conversion.h" @@ -216,7 +217,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node) if (ori.size() == 4) ori_sb = std::make_shared<StateQuaternion>(ori, ori_fixed); else - ori_sb = std::make_shared<StateBlock>(ori, ori_fixed); + ori_sb = std::make_shared<StateAngle>(ori(0), ori_fixed); } LandmarkBasePtr lmk = std::make_shared<LandmarkBase>("BASE", pos_sb, ori_sb); @@ -228,7 +229,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node) // Register landmark creator namespace { -const bool WOLF_UNUSED registered_lmk_ahp = LandmarkFactory::get().registerCreator("BASE", LandmarkBase::create); +const bool WOLF_UNUSED registered_lmk_base = LandmarkFactory::get().registerCreator("BASE", LandmarkBase::create); } } // namespace wolf -- GitLab