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added Rot3() in constructor

release/4.3a0
Luca 2014-12-02 15:12:44 -05:00
parent b818a548c5
commit 57f2e77122
1 changed files with 1 additions and 2 deletions
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gtsam/navigation/ImuFactor.cpp
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@ -34,8 +34,7 @@ ImuFactor::PreintegratedMeasurements::PreintegratedMeasurements(
const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance, const Matrix3& measuredOmegaCovariance, const Matrix3& integrationErrorCovariance,
const bool use2ndOrderIntegration) : const bool use2ndOrderIntegration) :
biasHat_(bias), deltaPij_(Vector3::Zero()), deltaVij_(Vector3::Zero()), biasHat_(bias), deltaPij_(Vector3::Zero()), deltaVij_(Vector3::Zero()),
// TODO: add this deltaRij_(Rot3()), deltaRij_(Rot3()), deltaTij_(0.0),
deltaTij_(0.0),
delPdelBiasAcc_(Z_3x3), delPdelBiasOmega_(Z_3x3), delPdelBiasAcc_(Z_3x3), delPdelBiasOmega_(Z_3x3),
delVdelBiasAcc_(Z_3x3), delVdelBiasOmega_(Z_3x3), delVdelBiasAcc_(Z_3x3), delVdelBiasOmega_(Z_3x3),
delRdelBiasOmega_(Z_3x3), use2ndOrderIntegration_(use2ndOrderIntegration) delRdelBiasOmega_(Z_3x3), use2ndOrderIntegration_(use2ndOrderIntegration)