From f48070b00273ef7ff6e9f1db700d08be35af7c00 Mon Sep 17 00:00:00 2001 From: Dinesh Atchuthan <datchuth@laas.fr> Date: Tue, 13 Dec 2016 15:31:32 +0100 Subject: [PATCH] initialize delta vectors in featureIMU --- src/feature_imu.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/feature_imu.cpp b/src/feature_imu.cpp index 91dd5c182..ef90fc3f4 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; } -- GitLab