From db1debc2b852616d919cad805de4eaae68917927 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Fri, 15 Dec 2017 22:39:06 +0100
Subject: [PATCH] constraint_block_absolute : remove unnecessary argument
---
src/constraint_block_absolute.h | 12 +++---------
1 file changed, 3 insertions(+), 9 deletions(-)
diff --git a/src/constraint_block_absolute.h b/src/constraint_block_absolute.h
index af4a5bdf5..737de58a8 100644
--- a/src/constraint_block_absolute.h
+++ b/src/constraint_block_absolute.h
@@ -22,10 +22,8 @@ class ConstraintBlockAbsolute: public ConstraintAutodiff<ConstraintBlockAbsolute
{
public:
- ConstraintBlockAbsolute(StateBlockPtr _sb_ptr, const Eigen::VectorXs& _state, const Eigen::MatrixXs& _cov, bool _apply_loss_function = false, ConstraintStatus _status = CTR_ACTIVE) :
- ConstraintAutodiff<ConstraintBlockAbsolute,3,3>(CTR_BLOCK_ABS, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, _sb_ptr),
- state_(_state),
- cov_(_cov)
+ ConstraintBlockAbsolute(StateBlockPtr _sb_ptr, bool _apply_loss_function = false, ConstraintStatus _status = CTR_ACTIVE) :
+ ConstraintAutodiff<ConstraintBlockAbsolute,3,3>(CTR_BLOCK_ABS, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, _sb_ptr)
{
setType("FIX SB");
}
@@ -40,10 +38,6 @@ class ConstraintBlockAbsolute: public ConstraintAutodiff<ConstraintBlockAbsolute
return JAC_AUTO;
}
- private:
- const Eigen::VectorXs state_;
- const Eigen::MatrixXs cov_;
-
};
template<typename T>
@@ -54,7 +48,7 @@ inline bool ConstraintBlockAbsolute::operator ()(const T* const _sb, T* _residua
Eigen::Matrix<T, 3, 1> sb(_sb);
// measurements
- Eigen::Vector3s measured_state(state_.data() + 0);
+ Eigen::Vector3s measured_state(getMeasurement().data() + 0);
// error
Eigen::Matrix<T, 3, 1> er;
--
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