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Use simpler Params type

release/4.3a0
Frank Dellaert 2019-05-17 22:10:21 -04:00
parent 91e2ec930e
commit 70cfa20dc1
4 changed files with 6 additions and 6 deletions
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4
gtsam/navigation/ImuFactor.cpp
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@ -235,8 +235,8 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
const bool use2ndOrderCoriolis) : const bool use2ndOrderCoriolis) :
Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i, Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i,
pose_j, vel_j, bias), _PIM_(pim) { pose_j, vel_j, bias), _PIM_(pim) {
boost::shared_ptr<PreintegratedImuMeasurements::Params> p = boost::make_shared< boost::shared_ptr<PreintegrationParams> p = boost::make_shared<
PreintegratedImuMeasurements::Params>(pim.p()); PreintegrationParams>(pim.p());
p->n_gravity = n_gravity; p->n_gravity = n_gravity;
p->omegaCoriolis = omegaCoriolis; p->omegaCoriolis = omegaCoriolis;
p->body_P_sensor = body_P_sensor; p->body_P_sensor = body_P_sensor;

2
gtsam/navigation/ScenarioRunner.h
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@ -39,7 +39,7 @@ static noiseModel::Diagonal::shared_ptr Diagonal(const Matrix& covariance) {
class ScenarioRunner { class ScenarioRunner {
public: public:
typedef imuBias::ConstantBias Bias; typedef imuBias::ConstantBias Bias;
typedef boost::shared_ptr<PreintegratedImuMeasurements::Params> SharedParams; typedef boost::shared_ptr<PreintegrationParams> SharedParams;
private: private:
const Scenario& scenario_; const Scenario& scenario_;

4
gtsam/navigation/tests/testImuFactor.cpp
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@ -803,11 +803,11 @@ TEST(ImuFactor, bodyPSensorWithBias) {
static const double kVelocity = 2.0, kAngularVelocity = M_PI / 6; static const double kVelocity = 2.0, kAngularVelocity = M_PI / 6;
struct ImuFactorMergeTest { struct ImuFactorMergeTest {
boost::shared_ptr<PreintegratedImuMeasurements::Params> p_; boost::shared_ptr<PreintegrationParams> p_;
const ConstantTwistScenario forward_, loop_; const ConstantTwistScenario forward_, loop_;
ImuFactorMergeTest() ImuFactorMergeTest()
: p_(PreintegratedImuMeasurements::Params::MakeSharedU(kGravity)), : p_(PreintegrationParams::MakeSharedU(kGravity)),
forward_(kZero, Vector3(kVelocity, 0, 0)), forward_(kZero, Vector3(kVelocity, 0, 0)),
loop_(Vector3(0, -kAngularVelocity, 0), Vector3(kVelocity, 0, 0)) { loop_(Vector3(0, -kAngularVelocity, 0), Vector3(kVelocity, 0, 0)) {
// arbitrary noise values // arbitrary noise values

2
gtsam/navigation/tests/testScenarios.cpp
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@ -34,7 +34,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3);
static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias);
// Create default parameters with Z-up and above noise parameters // Create default parameters with Z-up and above noise parameters
static boost::shared_ptr<PreintegratedImuMeasurements::Params> defaultParams() { static boost::shared_ptr<PreintegrationParams> defaultParams() {
auto p = PreintegrationParams::MakeSharedU(10); auto p = PreintegrationParams::MakeSharedU(10);
p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3;
p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3;