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Remove redundant gyroCov param update in ctor

release/4.3a0
Toni 2019-07-30 11:41:14 -04:00
parent 38e43ce0af
commit 04b9bf23e5
1 changed files with 1 additions and 3 deletions
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4
gtsam/navigation/AHRSFactor.h
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@ -73,9 +73,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
const Matrix3& preint_meas_cov) : const Matrix3& preint_meas_cov) :
biasHat_(bias_hat), biasHat_(bias_hat),
PreintegratedRotation(p, deltaTij, deltaRij, delRdelBiasOmega), PreintegratedRotation(p, deltaTij, deltaRij, delRdelBiasOmega),
preintMeasCov_(preint_meas_cov) { preintMeasCov_(preint_meas_cov) {}
p_->gyroscopeCovariance = p->getGyroscopeCovariance();
}
const Params& p() const { return *boost::static_pointer_cast<const Params>(p_);} const Params& p() const { return *boost::static_pointer_cast<const Params>(p_);}
const Vector3& biasHat() const { return biasHat_; } const Vector3& biasHat() const { return biasHat_; }