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wolf_lib
wolf
Merge requests
!405
Resolve "getCalibration() --> getIntrinsics()"
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Resolve "getCalibration() --> getIntrinsics()"
384-getcalibration-getintrinsics
into
devel
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0
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1
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2
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5
Merged
Joan Solà Ortega
requested to merge
384-getcalibration-getintrinsics
into
devel
4 years ago
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0
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1
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2
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5
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Closes
#384 (closed)
Edited
4 years ago
by
Joan Solà Ortega
0
0
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devel
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and
latest version
latest version
de9b3458
1 commit,
4 years ago
5 files
+
10
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65
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5
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include/core/processor/processor_diff_drive.h
+
5
−
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@@ -60,7 +60,7 @@ class ProcessorDiffDrive : public ProcessorOdom2d
FeatureBasePtr
emplaceFeature
(
CaptureMotionPtr
_capture_own
)
override
;
FactorBasePtr
emplaceFactor
(
FeatureBasePtr
_feature_motion
,
CaptureBasePtr
_capture_origin
)
override
;
VectorXd
getCalibration
(
const
CaptureBasePtr
_capture
)
const
override
;
VectorXd
getCalibration
(
const
CaptureBasePtr
_capture
=
nullptr
)
const
override
;
void
setCalibration
(
const
CaptureBasePtr
_capture
,
const
VectorXd
&
_calibration
)
override
;
protected:
@@ -71,7 +71,10 @@ class ProcessorDiffDrive : public ProcessorOdom2d
inline
Eigen
::
VectorXd
ProcessorDiffDrive
::
getCalibration
(
const
CaptureBasePtr
_capture
)
const
{
return
_capture
->
getStateBlock
(
'I'
)
->
getState
();
if
(
_capture
)
return
_capture
->
getStateBlock
(
'I'
)
->
getState
();
else
return
getSensor
()
->
getStateBlockDynamic
(
'I'
)
->
getState
();
}
inline
void
ProcessorDiffDrive
::
setCalibration
(
const
CaptureBasePtr
_capture
,
const
VectorXd
&
_calibration
)
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