removed unnecessary parameter from constructor
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							|  | @ -2347,8 +2347,7 @@ class CombinedImuFactorPreintegratedMeasurements { | |||
| 
 | ||||
| virtual class CombinedImuFactor : gtsam::NonlinearFactor { | ||||
|   CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j, | ||||
|       const gtsam::CombinedImuFactorPreintegratedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis, | ||||
|       const gtsam::noiseModel::Base* model); | ||||
|       const gtsam::CombinedImuFactorPreintegratedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); | ||||
| 
 | ||||
|   // Standard Interface
 | ||||
|   gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const; | ||||
|  |  | |||
|  | @ -341,8 +341,8 @@ namespace gtsam { | |||
|     /** Constructor */ | ||||
|     CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, | ||||
|         const CombinedPreintegratedMeasurements& preintegratedMeasurements, const Vector3& gravity, const Vector3& omegaCoriolis, | ||||
|         const SharedNoiseModel& model, boost::optional<const Pose3&> body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false) : | ||||
|       Base(model, pose_i, vel_i, pose_j, vel_j, bias_i, bias_j), | ||||
|         boost::optional<const Pose3&> body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false) : | ||||
|       Base(noiseModel::Gaussian::Covariance(preintegratedMeasurements.PreintMeasCov), pose_i, vel_i, pose_j, vel_j, bias_i, bias_j), | ||||
|       preintegratedMeasurements_(preintegratedMeasurements), | ||||
|       gravity_(gravity), | ||||
|       omegaCoriolis_(omegaCoriolis), | ||||
|  |  | |||
|  | @ -183,7 +183,7 @@ TEST( CombinedImuFactor, ErrorWithBiases ) | |||
|     ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis); | ||||
| 
 | ||||
|     noiseModel::Gaussian::shared_ptr Combinedmodel = noiseModel::Gaussian::Covariance(Combined_pre_int_data.PreintMeasCov); | ||||
|     CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), Combined_pre_int_data, gravity, omegaCoriolis, Combinedmodel); | ||||
|     CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), Combined_pre_int_data, gravity, omegaCoriolis); | ||||
| 
 | ||||
| 
 | ||||
|     Vector errorExpected = factor.evaluateError(x1, v1, x2, v2, bias); | ||||
|  |  | |||
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