From f61b36b23c4abf547676024712a07c668942f8e5 Mon Sep 17 00:00:00 2001 From: Dinesh Atchuthan <datchuth@laas.fr> Date: Tue, 13 Dec 2016 15:51:09 +0100 Subject: [PATCH] FeatureIMU constructor, set biases --- 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 ef90fc3f4..cd1bec557 100644 --- a/src/feature_imu.cpp +++ b/src/feature_imu.cpp @@ -4,7 +4,8 @@ namespace wolf { FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen::MatrixXs& _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)) + dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.segment<3>(7)), dq_preint_(_delta_preintegrated.segment<4>(3)), + acc_bias_preint_(_delta_preintegrated.segment<3>(10)), gyro_bias_preint_(_delta_preintegrated.tail<3>()) { //std::cout << "New FeatureIMU: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl; } -- GitLab