From 762d3c7593d94aac032f83d69b3537c9e5d4577d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Fri, 4 Nov 2016 22:50:36 +0100 Subject: [PATCH] Use LOCAL quaternion update in StateQuaternion --- src/state_quaternion.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/state_quaternion.h b/src/state_quaternion.h index cc854ddc9..6988ccea6 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(); // -- GitLab