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const correctness

release/4.3a0
Frank Dellaert 2015-12-22 19:08:46 -08:00
parent cebd9ed1d3
commit 380d0dc989
2 changed files with 4 additions and 4 deletions
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2
gtsam/navigation/PreintegrationBase.cpp
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@ -297,7 +297,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i,
PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i, PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i,
const Vector3& vel_i, const imuBias::ConstantBias& bias_i, const Vector3& vel_i, const imuBias::ConstantBias& bias_i,
const Vector3& n_gravity, const Vector3& omegaCoriolis, const Vector3& n_gravity, const Vector3& omegaCoriolis,
const bool use2ndOrderCoriolis) { const bool use2ndOrderCoriolis) const {
// NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility // NOTE(frank): parameters are supposed to be constant, below is only provided for compatibility
boost::shared_ptr<Params> q = boost::make_shared<Params>(p()); boost::shared_ptr<Params> q = boost::make_shared<Params>(p());
q->n_gravity = n_gravity; q->n_gravity = n_gravity;

6
gtsam/navigation/PreintegrationBase.h
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@ -109,8 +109,8 @@ protected:
*/ */
NavState deltaXij_; NavState deltaXij_;
/// Parameters /// Parameters. Declared mutable only for deprecated predict method.
boost::shared_ptr<Params> p_; mutable boost::shared_ptr<Params> p_;
/// Acceleration and gyro bias used for preintegration /// Acceleration and gyro bias used for preintegration
imuBias::ConstantBias biasHat_; imuBias::ConstantBias biasHat_;
@ -239,7 +239,7 @@ public:
/// @deprecated predict /// @deprecated predict
PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i, PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i,
const imuBias::ConstantBias& bias_i, const Vector3& n_gravity, const imuBias::ConstantBias& bias_i, const Vector3& n_gravity,
const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false) const;
private: private:
/** Serialization function */ /** Serialization function */