From c59695f95505225a46d8307a7ac41a2356445c9e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 23 Jun 2022 20:09:08 +0200
Subject: [PATCH] Set sensor stateblocks non transformable
---
src/sensor/sensor_base.cpp | 18 ++++++++++++++----
1 file changed, 14 insertions(+), 4 deletions(-)
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 996d48263..21d9622c3 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -56,14 +56,20 @@ SensorBase::SensorBase(const std::string& _type,
noise_cov_.setZero();
if (_p_ptr)
+ {
+ _p_ptr->setNonTransformable();
addStateBlock('P', _p_ptr, _p_dyn);
+ }
if (_o_ptr)
+ {
+ _o_ptr->setNonTransformable();
addStateBlock('O', _o_ptr, _o_dyn);
-
+ }
if (_intr_ptr)
+ {
addStateBlock('I', _intr_ptr, _intr_dyn);
-
+ }
}
SensorBase::SensorBase(const std::string& _type,
@@ -87,11 +93,15 @@ SensorBase::SensorBase(const std::string& _type,
setNoiseStd(_noise_std);
if (_p_ptr)
+ {
+ _p_ptr->setNonTransformable();
addStateBlock('P', _p_ptr, _p_dyn);
-
+ }
if (_o_ptr)
+ {
+ _o_ptr->setNonTransformable();
addStateBlock('O', _o_ptr, _o_dyn);
-
+ }
if (_intr_ptr)
addStateBlock('I', _intr_ptr, _intr_dyn);
}
--
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