diff --git a/src/feature_imu.cpp b/src/feature_imu.cpp index 91dd5c1823ea26d4fbae127c5d6813649fcfe399..ef90fc3f48a4dff25bc59213afd1c59748430fdd 100644 --- a/src/feature_imu.cpp +++ b/src/feature_imu.cpp @@ -3,7 +3,8 @@ namespace wolf { FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen::MatrixXs& _delta_preintegrated_covariance) : - FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance) + FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance), + dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.segment<3>(7)), dq_preint_(_delta_preintegrated.segment<4>(3)) { //std::cout << "New FeatureIMU: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl; }