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Commit 4a1c9d35 authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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getLastKeyFrame -> getLastFrame

parent caee51b8
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3 merge requests!5After cmake and const refactor,!3new release,!1WIP: Resolve "Adapt to std::set and std::map instead of std::list in wolf nodes"
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src/subscriber_imu.cpp
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− 3
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......@@ -79,11 +79,11 @@ void SubscriberImu::publishBias() const
// Fill PoseStamped msg
geometry_msgs::Vector3 accel_bias_msg, gyro_bias_msg;
if (not sensor_ptr_->getProblem()->getTrajectory()->getLastKeyFrame() or
not sensor_ptr_->getProblem()->getTrajectory()->getLastKeyFrame()->getCaptureOf(sensor_ptr_))
if (not sensor_ptr_->getProblem()->getTrajectory()->getLastFrame() or
not sensor_ptr_->getProblem()->getTrajectory()->getLastFrame()->getCaptureOf(sensor_ptr_))
return;
Eigen::Vector6d bias = sensor_ptr_->getProblem()->getTrajectory()->getLastKeyFrame()->getCaptureOf(sensor_ptr_)->getStateBlock('I')->getState();
Eigen::Vector6d bias = sensor_ptr_->getProblem()->getTrajectory()->getLastFrame()->getCaptureOf(sensor_ptr_)->getStateBlock('I')->getState();
//Eigen::Vector3d accel_bias = //sensor_ptr_->getIntrinsic()->getState().head(3);
//Eigen::Vector3d gyro_bias = //sensor_ptr_->getIntrinsic()->getState().tail(3);
......
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