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removed unnecessary parameter from constructor

release/4.3a0
djensen3 2014-04-29 15:13:28 -04:00
parent 5391de77e0
commit 4ad4f9d68e
3 changed files with 4 additions and 5 deletions
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3
gtsam.h
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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;

4
gtsam/navigation/CombinedImuFactor.h
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@ -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),

2
gtsam/navigation/tests/testCombinedImuFactor.cpp
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@ -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);