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Sensors api

Merged Joan Solà Ortega requested to merge sensors_api into master
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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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