From a15b55f56bc6ce2bd6cbb15a7bb34a48a9fd5a54 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Thu, 15 Dec 2016 15:18:13 +0100
Subject: [PATCH] seg fault fixed - Issue #122
---
src/constraint_imu.h | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/constraint_imu.h b/src/constraint_imu.h
index 7465c1dc3..14e8e72cf 100644
--- a/src/constraint_imu.h
+++ b/src/constraint_imu.h
@@ -91,8 +91,8 @@ class ConstraintIMU : public ConstraintSparse<9, 3, 4, 3, 3, 3, 3, 4, 3>
private:
/// Preintegrated delta
Eigen::Vector3s dp_preint_;
- Eigen::Vector3s dv_preint_;
Eigen::Quaternions dq_preint_;
+ Eigen::Vector3s dv_preint_;
// Biases used during preintegration
Eigen::Vector3s acc_bias_preint_;
@@ -119,8 +119,8 @@ inline ConstraintIMU::ConstraintIMU(FeatureIMUPtr _ftr_ptr, FrameIMUPtr _frame_p
_ftr_ptr->getFramePtr()->getOPtr(),
_ftr_ptr->getFramePtr()->getVPtr()),
dp_preint_(_ftr_ptr->dp_preint_), // dp, dv, dq at preintegration time
- dv_preint_(_ftr_ptr->dv_preint_),
dq_preint_(_ftr_ptr->dq_preint_),
+ dv_preint_(_ftr_ptr->dv_preint_),
acc_bias_preint_(_ftr_ptr->acc_bias_preint_), // state biases at preintegration time
gyro_bias_preint_(_ftr_ptr->gyro_bias_preint_),
dDp_dab_(_ftr_ptr->dDp_dab_), // Jacs of dp dv dq wrt biases
@@ -128,7 +128,7 @@ inline ConstraintIMU::ConstraintIMU(FeatureIMUPtr _ftr_ptr, FrameIMUPtr _frame_p
dDp_dwb_(_ftr_ptr->dDp_dwb_),
dDv_dwb_(_ftr_ptr->dDv_dwb_),
dDq_dwb_(_ftr_ptr->dDq_dwb_),
- dt_(_frame_ptr->getTimeStamp() - getFeaturePtr()->getFramePtr()->getTimeStamp()),
+ dt_(_frame_ptr->getTimeStamp() - _ftr_ptr->getFramePtr()->getTimeStamp()),
dt_2_(dt_*dt_),
g_(wolf::gravity())
--
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