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wolf
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!187
Sensors api
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Merged
Sensors api
sensors_api
into
master
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0
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5
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1
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12
Merged
Joan Solà Ortega
requested to merge
sensors_api
into
master
7 years ago
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a7b0c743
Add sensor constructors with extrinsics and intrinsics data types only.
· a7b0c743
Joan Solà Ortega
authored
7 years ago
src/sensor_GPS_fix.cpp
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@@ -10,6 +10,18 @@ SensorGPSFix::SensorGPSFix(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const dou
//
}
SensorGPSFix
::
SensorGPSFix
(
const
Eigen
::
VectorXs
&
_extrinsics
,
const
IntrinsicsGPSFix
&
_intrinsics
)
:
SensorBase
(
"GPS FIX"
,
std
::
make_shared
<
StateBlock
>
(
_extrinsics
.
head
(
3
)),
std
::
make_shared
<
StateQuaternion
>
(
_extrinsics
.
tail
(
4
)),
nullptr
,
_intrinsics
.
noise_std
)
{
assert
(
_extrinsics
.
size
()
==
7
&&
"Wrong extrinsics vector size! Should be 7 for 2D."
);
}
SensorGPSFix
::
SensorGPSFix
(
const
Eigen
::
VectorXs
&
_extrinsics
,
IntrinsicsGPSFixPtr
_intrinsics_ptr
)
:
SensorGPSFix
(
_extrinsics
,
*
_intrinsics_ptr
)
{
//
}
SensorGPSFix
::~
SensorGPSFix
()
{
//
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