From 9a2df068ed2a4c5af36443f4704583bdf261d163 Mon Sep 17 00:00:00 2001
From: Arno Fleck <38908098+CodeArno@users.noreply.github.com>
Date: Thu, 26 Jul 2018 10:36:17 +0200
Subject: [PATCH] Check for collated_fixed_frame_ for
 AddSensorData(FixedFramePoseData). (#1331)

PR #1224 introduced checks for `collate_landmarks` and `collate_fixed_frame` in the `CollatedTrajectoryBuilder`. However, it falsely checks for `collate_landmarks` in the `AddSensorData(FixedFramePoseData)` function. This PR fixes that.
---
 cartographer/mapping/internal/collated_trajectory_builder.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cartographer/mapping/internal/collated_trajectory_builder.h b/cartographer/mapping/internal/collated_trajectory_builder.h
index 0237f75..c999edf 100644
--- a/cartographer/mapping/internal/collated_trajectory_builder.h
+++ b/cartographer/mapping/internal/collated_trajectory_builder.h
@@ -70,7 +70,7 @@ class CollatedTrajectoryBuilder : public TrajectoryBuilderInterface {
   void AddSensorData(
       const std::string& sensor_id,
       const sensor::FixedFramePoseData& fixed_frame_pose_data) override {
-    if (collate_landmarks_) {
+    if (collate_fixed_frame_) {
       AddData(sensor::MakeDispatchable(sensor_id, fixed_frame_pose_data));
       return;
     }