diff --git a/src/capture_pose.cpp b/src/capture_pose.cpp index dda2327f3e8a7c6882e865a43db9d15d40c52061..c8422aa32a8ec4183c5c48cdcb74002437202709 100644 --- a/src/capture_pose.cpp +++ b/src/capture_pose.cpp @@ -3,7 +3,7 @@ namespace wolf{ CapturePose::CapturePose(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance) : - CaptureBase("FIX", _ts, _sensor_ptr), + CaptureBase("POSE", _ts, _sensor_ptr), data_(_data), data_covariance_(_data_covariance) { @@ -18,16 +18,16 @@ CapturePose::~CapturePose() void CapturePose::emplaceFeatureAndConstraint() { // Emplace feature - FeatureFixPtr feature_fix = std::make_shared<FeatureFix>(data_,data_covariance_); - addFeature(feature_fix); + FeaturePosePtr feature_pose = std::make_shared<FeaturePose>(data_,data_covariance_); + addFeature(feature_pose); // Emplace constraint if (data_.size() == 3 && data_covariance_.rows() == 3 && data_covariance_.cols() == 3 ) - feature_fix->addConstraint(std::make_shared<ConstraintPose2D>(feature_fix)); + feature_pose->addConstraint(std::make_shared<ConstraintPose2D>(feature_pose)); else if (data_.size() == 7 && data_covariance_.rows() == 6 && data_covariance_.cols() == 6 ) - feature_fix->addConstraint(std::make_shared<ConstraintPose3D>(feature_fix)); + feature_pose->addConstraint(std::make_shared<ConstraintPose3D>(feature_pose)); else - throw std::runtime_error("Wrong data size in CaptureFix. Use 3 for 2D. Use 7 for 3D."); + throw std::runtime_error("Wrong data size in CapturePose. Use 3 for 2D. Use 7 for 3D."); } diff --git a/src/capture_pose.h b/src/capture_pose.h index 2a843375fe65ed15ab272e25594a8d1272184a10..9d47d39c98976458bff882e1770b7f03ee1357a5 100644 --- a/src/capture_pose.h +++ b/src/capture_pose.h @@ -3,9 +3,9 @@ //Wolf includes #include "capture_base.h" -#include "feature_fix.h" #include "constraint_pose_2D.h" #include "constraint_pose_3D.h" +#include "feature_pose.h" //std includes //