From 9ea9e8641d92bccb8060bfd33c1656486f22d5ee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 16 Aug 2019 22:39:36 +0200
Subject: [PATCH] Use VectorXs in Odom3D to accept size 6 and 7 data
---
include/core/capture/capture_odom_3D.h | 4 ++--
src/capture/capture_odom_3D.cpp | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/core/capture/capture_odom_3D.h b/include/core/capture/capture_odom_3D.h
index 197dd0c5e..cc810448a 100644
--- a/include/core/capture/capture_odom_3D.h
+++ b/include/core/capture/capture_odom_3D.h
@@ -22,12 +22,12 @@ class CaptureOdom3D : public CaptureMotion
public:
CaptureOdom3D(const TimeStamp& _init_ts,
SensorBasePtr _sensor_ptr,
- const Eigen::Vector6s& _data,
+ const Eigen::VectorXs& _data,
CaptureBasePtr _capture_origin_ptr = nullptr);
CaptureOdom3D(const TimeStamp& _init_ts,
SensorBasePtr _sensor_ptr,
- const Eigen::Vector6s& _data,
+ const Eigen::VectorXs& _data,
const Eigen::MatrixXs& _data_cov,
CaptureBasePtr _capture_origin_ptr = nullptr);
diff --git a/src/capture/capture_odom_3D.cpp b/src/capture/capture_odom_3D.cpp
index 7ad7a5e60..84f263d2c 100644
--- a/src/capture/capture_odom_3D.cpp
+++ b/src/capture/capture_odom_3D.cpp
@@ -12,7 +12,7 @@ namespace wolf
CaptureOdom3D::CaptureOdom3D(const TimeStamp& _init_ts,
SensorBasePtr _sensor_ptr,
- const Eigen::Vector6s& _data,
+ const Eigen::VectorXs& _data,
CaptureBasePtr _capture_origin_ptr):
CaptureMotion("ODOM 3D", _init_ts, _sensor_ptr, _data, 7, 6, _capture_origin_ptr)
{
@@ -21,7 +21,7 @@ CaptureOdom3D::CaptureOdom3D(const TimeStamp& _init_ts,
CaptureOdom3D::CaptureOdom3D(const TimeStamp& _init_ts,
SensorBasePtr _sensor_ptr,
- const Eigen::Vector6s& _data,
+ const Eigen::VectorXs& _data,
const Eigen::MatrixXs& _data_cov,
CaptureBasePtr _capture_origin_ptr):
CaptureMotion("ODOM 3D", _init_ts, _sensor_ptr, _data, _data_cov, 7, 6, _capture_origin_ptr)
--
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