Add missing constructor

src/feature_base.cpp

@@ -88,10 +88,10 @@ void FeatureBase::setMeasurementCovariance(const Eigen::MatrixXs & _meas_cov)
 	measurement_sqrt_information_upper_ = computeSqrtInformationUpper(_meas_cov);
 }
 
-Eigen::MatrixXs FeatureBase::computeSqrtInformationUpper(const Eigen::MatrixXs & covariance) const
+Eigen::MatrixXs FeatureBase::computeSqrtInformationUpper(const Eigen::MatrixXs & _covariance) const
 {
-    assert(covariance.determinant() > 0 && "Covariance is not positive definite!");
-    Eigen::LLT<Eigen::MatrixXs> llt_of_info(covariance.inverse());
+    assert(_covariance.determinant() > 0 && "Covariance is not positive definite!");
+    Eigen::LLT<Eigen::MatrixXs> llt_of_info(_covariance.inverse());
     return llt_of_info.matrixU();
 }
 

src/feature_polyline_2D.h

@@ -33,6 +33,14 @@ class FeaturePolyline2D : public FeatureBase
         int getNPoints() const;
 };
 
+inline FeaturePolyline2D::FeaturePolyline2D(const Eigen::MatrixXs& _points, const Eigen::MatrixXs& _points_cov, const bool& _first_defined, const bool& _last_defined) :
+        FeatureBase("POLYLINE 2D",
+                    Eigen::VectorXs(), Eigen::MatrixXs()),
+                    points_(_points), points_cov_(_points_cov), first_defined_(_first_defined), last_defined_(_last_defined)
+{
+    assert(points_.rows() == 3 && points_cov_.rows() == 2 && points_cov_.cols() == 2*points_.cols() && "FeaturePolyline2D::FeaturePolyline2D: Bad points or covariance matrix size");
+}
+
 inline FeaturePolyline2D::~FeaturePolyline2D()
 {
     //