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update PreintegratedCombinedMeasurements constructor to take default preintMeasCov

release/4.3a0
Varun Agrawal 2022-11-15 19:23:55 -05:00
parent dc83c6f618
commit 41d0606816
1 changed files with 6 additions and 5 deletions
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11
gtsam/navigation/CombinedImuFactor.h
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@ -95,15 +95,16 @@ public:
/**
* Default constructor, initializes the class with no measurements
* @param p Parameters, typically fixed in a single application
* @param p Parameters, typically fixed in a single application
* @param biasHat Current estimate of acceleration and rotation rate biases
* @param preintMeasCov Covariance matrix used in noise model.
*/
PreintegratedCombinedMeasurements(
const boost::shared_ptr<Params>& p,
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias())
: PreintegrationType(p, biasHat) {
preintMeasCov_.setZero();
}
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias(),
const Eigen::Matrix<double, 15, 15>& preintMeasCov =
Eigen::Matrix<double, 15, 15>::Zero())
: PreintegrationType(p, biasHat), preintMeasCov_(preintMeasCov) {}
/**
* Construct preintegrated directly from members: base class and preintMeasCov