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mobile_robotics
wolf_projects
wolf_ros
wolf_ros_imu
Commits
4a1c9d35
Commit
4a1c9d35
authored
4 years ago
by
Joaquim Casals Buñuel
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getLastKeyFrame -> getLastFrame
parent
caee51b8
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3 merge requests
!5
After cmake and const refactor
,
!3
new release
,
!1
WIP: Resolve "Adapt to std::set and std::map instead of std::list in wolf nodes"
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1
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src/subscriber_imu.cpp
+3
-3
3 additions, 3 deletions
src/subscriber_imu.cpp
with
3 additions
and
3 deletions
src/subscriber_imu.cpp
+
3
−
3
View file @
4a1c9d35
...
...
@@ -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
()
->
getLast
Key
Frame
()
or
not
sensor_ptr_
->
getProblem
()
->
getTrajectory
()
->
getLast
Key
Frame
()
->
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
()
->
getLast
Key
Frame
()
->
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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