Skip to content
Snippets Groups Projects

Resolve "SensorPose with anisotropic noise specs"

Merged Resolve "SensorPose with anisotropic noise specs"
477-sensorpose-with-anisotropic-noise-specs into devel
Merged Joan Solà Ortega requested to merge 477-sensorpose-with-anisotropic-noise-specs into devel
Viewing commit 10096d6f
Prev
Show latest version
1 file
+ 0
− 9
Compare changes
  • Side-by-side
  • Inline
include/core/sensor/sensor_base.h
+ 0
− 9
@@ -58,15 +58,10 @@ static
SensorBasePtr create(const std::string& _unique_name, const ParamsServer& _server) \
{ \
Eigen::VectorXd extrinsics = _server.template getParam<Eigen::VectorXd>("sensor/" + _unique_name + "/extrinsic/pose"); \
\
assert(extrinsics.size() == ExtrinsicsSize && "Bad extrinsics vector length."); \
\
auto params = std::make_shared<ParamsSensorClass>(_unique_name, _server); \
\
auto sensor = std::make_shared<SensorClass>(extrinsics, params); \
\
sensor ->setName(_unique_name); \
\
return sensor; \
} \
\
@@ -74,13 +69,9 @@ static
SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics, const ParamsSensorBasePtr _intrinsics)\
{ \
assert(_extrinsics.size() == ExtrinsicsSize && "Bad extrinsics vector length."); \
\
auto params = std::static_pointer_cast<ParamsSensorClass>(_intrinsics); \
\
auto sensor = std::make_shared<SensorClass>(_extrinsics, params); \
\
sensor ->setName(_unique_name); \
\
return sensor; \
} \