diff --git a/src/state_quaternion.h b/src/state_quaternion.h index cc854ddc9db454b7c09e720a538d7e16ca3d3c00..6988ccea6b0080a7223585d0a9c276d0bcea1b7d 100644 --- a/src/state_quaternion.h +++ b/src/state_quaternion.h @@ -23,18 +23,18 @@ class StateQuaternion : public StateBlock }; inline StateQuaternion::StateQuaternion(const Eigen::Quaternions _quaternion, bool _fixed) : - StateBlock(_quaternion.coeffs()) + StateBlock(_quaternion.coeffs(), _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_LOCAL>>()) { } inline StateQuaternion::StateQuaternion(const Eigen::VectorXs _state, bool _fixed) : - StateBlock(_state, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_GLOBAL>>()) + StateBlock(_state, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_LOCAL>>()) { assert(_state.size() == 4 && "The quaternion state vector must be of size 4"); } inline StateQuaternion::StateQuaternion(bool _fixed) : - StateBlock(4, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_GLOBAL>>()) + StateBlock(4, _fixed, std::make_shared<LocalParametrizationQuaternion<DQ_LOCAL>>()) { state_ = Eigen::Quaternions::Identity().coeffs(); //