diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h index 0d8539fd05d64803327ab3ceafba4feb0763d1c3..0ba4badcdba1e22b15d5ab228673aaf363b7954d 100644 --- a/include/core/problem/problem.h +++ b/include/core/problem/problem.h @@ -202,7 +202,7 @@ class Problem : public std::enable_shared_from_this<Problem> const VectorComposite& _cov = VectorComposite()); FrameBasePtr applyPriorOptions(const TimeStamp& _ts); FrameBasePtr setPriorFactor(const VectorComposite &_state, - const VectorComposite &_cov, + const VectorComposite &_sigma, const TimeStamp &_ts, const double &_time_tol); FrameBasePtr setPriorFix(const VectorComposite &_state, diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp index ef1f8b5bcfd7957cbdc725b8d4c5db0fbf134aa5..09533b1a8726ab6ee74c7bd908c6746264b45a3b 100644 --- a/src/problem/problem.cpp +++ b/src/problem/problem.cpp @@ -1082,11 +1082,11 @@ FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts) } FrameBasePtr Problem::setPriorFactor(const VectorComposite &_state, - const VectorComposite &_cov, + const VectorComposite &_sigma, const TimeStamp &_ts, const double &_time_tol) { - setPriorOptions("factor", _time_tol, _state, _cov); + setPriorOptions("factor", _time_tol, _state, _sigma); return applyPriorOptions(_ts); }