From 87e7a2bd5c436e25aa16a8fd160b8e32856f641f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Fri, 8 Feb 2019 15:52:26 +0100
Subject: [PATCH] changed map of priors, now indexed by state block idx

---
 src/sensor_base.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/sensor_base.h b/src/sensor_base.h
index c89ba7911..a37132be0 100644
--- a/src/sensor_base.h
+++ b/src/sensor_base.h
@@ -50,7 +50,7 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
         Eigen::VectorXs noise_std_; // std of sensor noise
         Eigen::MatrixXs noise_cov_; // cov matrix of noise
 
-        std::map<StateBlockPtr,FeatureBasePtr> params_prior_map_; // Priors (value and covariance) of extrinsic & intrinsic state blocks (multimap
+        std::map<unsigned int,FeatureBasePtr> params_prior_map_; // Priors (value and covariance) of extrinsic & intrinsic state blocks (by index in state_block_vec_)
 
     public:
         /** \brief Constructor with noise size
-- 
GitLab