From 41d0606816524f3e546e641e5887c32345513bd6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 15 Nov 2022 19:23:55 -0500
Subject: [PATCH] update PreintegratedCombinedMeasurements constructor to take
 default preintMeasCov

---
 gtsam/navigation/CombinedImuFactor.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index ff247009e..71169ab2c 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -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