Some fixes to feature_motion

CMakeLists.txt

@@ -236,6 +236,7 @@ SET(HDRS_FEATURE
   include/core/feature/feature_base.h
   include/core/feature/feature_diff_drive.h
   include/core/feature/feature_match.h
+  include/core/feature/feature_motion.h
   include/core/feature/feature_odom_2D.h
   include/core/feature/feature_pose.h
   )
@@ -335,6 +336,7 @@ SET(SRCS_FACTOR
 SET(SRCS_FEATURE
   src/feature/feature_base.cpp
   src/feature/feature_diff_drive.cpp
+  src/feature/feature_motion.cpp
   src/feature/feature_odom_2D.cpp
   src/feature/feature_pose.cpp
   )

include/core/feature/feature_motion.h

@@ -25,8 +25,8 @@ class FeatureMotion : public FeatureBase
         const Eigen::MatrixXs& getJacobianCalibration() const;
 
     private:
-        Eigen::VectorXs& calib_preint_;
-        Eigen::MatrixXs& jacobian_calib_;
+        Eigen::VectorXs calib_preint_;
+        Eigen::MatrixXs jacobian_calib_;
 };
 
 inline const Eigen::VectorXs& FeatureMotion::getDeltaPreint() const

src/feature/feature_motion.cpp

@@ -5,7 +5,7 @@
  *      Author: jsola
  */
 
-#include "feature_motion.h"
+#include "core/feature/feature_motion.h"
 
 namespace wolf
 {