From dfb69c1b7c2e9b48c67f4f22529465a370f78f54 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Fri, 2 Feb 2018 16:51:17 +0100
Subject: [PATCH] fix ConstraintFixBias
---
src/constraint_fix_bias.h | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/constraint_fix_bias.h b/src/constraint_fix_bias.h
index fd26539dc..acaac249a 100644
--- a/src/constraint_fix_bias.h
+++ b/src/constraint_fix_bias.h
@@ -5,8 +5,8 @@
//Wolf includes
#include "constraint_autodiff.h"
#include "frame_base.h"
-#include "frame_imu.h"
#include "rotations.h"
+#include "capture_imu.h"
#include "feature_imu.h"
//#include "ceres/jet.h"
@@ -21,8 +21,8 @@ class ConstraintFixBias: public ConstraintAutodiff<ConstraintFixBias,6,3,3>
{
public:
ConstraintFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function = false, ConstraintStatus _status = CTR_ACTIVE) :
- ConstraintAutodiff<ConstraintFixBias, 6, 3, 3>(CTR_FIX_BIAS, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, std::static_pointer_cast<FrameIMU>(_ftr_ptr->getFramePtr())->getAccBiasPtr(),
- std::static_pointer_cast<FrameIMU>(_ftr_ptr->getFramePtr())->getGyroBiasPtr())
+ ConstraintAutodiff<ConstraintFixBias, 6, 3, 3>(CTR_FIX_BIAS, nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, std::static_pointer_cast<CaptureIMU>(_ftr_ptr->getCapturePtr())->getAccBiasPtr(),
+ std::static_pointer_cast<CaptureIMU>(_ftr_ptr->getCapturePtr())->getGyroBiasPtr())
{
setType("FIX BIAS");
// std::cout << "created ConstraintFixBias " << std::endl;
--
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