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;
 }
-- 
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