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Fixed naming in non-static data member.

release/4.3a0
krunalchande 2015-03-08 23:52:47 -04:00
parent ab21ee9507
commit 4f1eb63b02
5 changed files with 6 additions and 6 deletions
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2
gtsam/navigation/CombinedImuFactor.h
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@ -218,7 +218,7 @@ public:
const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false,
boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none, boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none,
boost::optional<Vector3&> deltaVij_biascorrected_out = boost::none) { boost::optional<Vector3&> deltaVij_biascorrected_out = boost::none) {
PoseVelocityBias PVB(PIM.Predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected_out, deltaVij_biascorrected_out)); PoseVelocityBias PVB(PIM.predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected_out, deltaVij_biascorrected_out));
pose_j = PVB.pose; pose_j = PVB.pose;
vel_j = PVB.velocity; vel_j = PVB.velocity;
} }

2
gtsam/navigation/ImuFactor.h
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@ -200,7 +200,7 @@ public:
const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false,
boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none, boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none,
boost::optional<Vector3&> deltaVij_biascorrected_out = boost::none) { boost::optional<Vector3&> deltaVij_biascorrected_out = boost::none) {
PoseVelocityBias PVB(PIM.Predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected_out, deltaVij_biascorrected_out)); PoseVelocityBias PVB(PIM.predict(pose_i, vel_i, bias_i, gravity, omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected_out, deltaVij_biascorrected_out));
pose_j = PVB.pose; pose_j = PVB.pose;
vel_j = PVB.velocity; vel_j = PVB.velocity;
} }

4
gtsam/navigation/PreintegrationBase.h
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@ -199,7 +199,7 @@ public:
/// Predict state at time j /// Predict state at time j
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
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& gravity, const imuBias::ConstantBias& bias_i, const Vector3& gravity,
const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false,
boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none, boost::optional<Vector3&> deltaPij_biascorrected_out = boost::none,
@ -273,7 +273,7 @@ public:
// Evaluate residual error, according to [3] // Evaluate residual error, according to [3]
/* ---------------------------------------------------------------------------------------------------- */ /* ---------------------------------------------------------------------------------------------------- */
Vector3 deltaPij_biascorrected, deltaVij_biascorrected; Vector3 deltaPij_biascorrected, deltaVij_biascorrected;
PoseVelocityBias predictedState_j = Predict(pose_i, vel_i, bias_i, gravity, PoseVelocityBias predictedState_j = predict(pose_i, vel_i, bias_i, gravity,
omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected, deltaVij_biascorrected); omegaCoriolis, use2ndOrderCoriolis, deltaPij_biascorrected, deltaVij_biascorrected);
// Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance // Ri.transpose() is important here to preserve a model with *additive* Gaussian noise of correct covariance

2
gtsam/navigation/tests/testCombinedImuFactor.cpp
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@ -294,7 +294,7 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity){
// Predict // Predict
Pose3 x1; Pose3 x1;
Vector3 v1(0, 0.0, 0.0); Vector3 v1(0, 0.0, 0.0);
PoseVelocityBias poseVelocityBias = Combined_pre_int_data.Predict(x1, v1, bias, gravity, omegaCoriolis); PoseVelocityBias poseVelocityBias = Combined_pre_int_data.predict(x1, v1, bias, gravity, omegaCoriolis);
Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
Vector3 expectedVelocity; expectedVelocity<<0,1,0; Vector3 expectedVelocity; expectedVelocity<<0,1,0;
EXPECT(assert_equal(expectedPose, poseVelocityBias.pose)); EXPECT(assert_equal(expectedPose, poseVelocityBias.pose));

2
gtsam/navigation/tests/testImuFactor.cpp
View File

@ -883,7 +883,7 @@ TEST(ImuFactor, PredictPositionAndVelocity){
// Predict // Predict
Pose3 x1; Pose3 x1;
Vector3 v1(0, 0.0, 0.0); Vector3 v1(0, 0.0, 0.0);
PoseVelocityBias poseVelocity = pre_int_data.Predict(x1, v1, bias, gravity, omegaCoriolis); PoseVelocityBias poseVelocity = pre_int_data.predict(x1, v1, bias, gravity, omegaCoriolis);
Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0)); Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
Vector3 expectedVelocity; expectedVelocity<<0,1,0; Vector3 expectedVelocity; expectedVelocity<<0,1,0;
EXPECT(assert_equal(expectedPose, poseVelocity.pose)); EXPECT(assert_equal(expectedPose, poseVelocity.pose));