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Fixed building wrapper.

release/4.3a0
dellaert 2014-11-24 20:14:56 +01:00
parent cacb180a1c
commit 867acbef6c
2 changed files with 5 additions and 5 deletions
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8
gtsam.h
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@ -2438,8 +2438,8 @@ virtual class ImuFactor : gtsam::NonlinearFactor {
#include <gtsam/navigation/AHRSFactor.h> #include <gtsam/navigation/AHRSFactor.h>
class AHRSFactorPreintegratedMeasurements { class AHRSFactorPreintegratedMeasurements {
// Standard Constructor // Standard Constructor
AHRSFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredOmegaCovariance); AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredOmegaCovariance); AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(const gtsam::AHRSFactorPreintegratedMeasurements& rhs); AHRSFactorPreintegratedMeasurements(const gtsam::AHRSFactorPreintegratedMeasurements& rhs);
// Testable // Testable
@ -2468,8 +2468,8 @@ virtual class AHRSFactor : gtsam::NonlinearFactor {
// Standard Interface // Standard Interface
gtsam::AHRSFactorPreintegratedMeasurements preintegratedMeasurements() const; gtsam::AHRSFactorPreintegratedMeasurements preintegratedMeasurements() const;
Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j, Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j,
const gtsam::imuBias::ConstantBias& bias) const; Vector bias) const;
gtsam::Rot3 predict(const gtsam::Rot3& rot_i, const gtsam::imuBias::ConstantBias& bias, gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector omegaCoriolis) const; Vector omegaCoriolis) const;
}; };

2
gtsam_unstable/dynamics/FullIMUFactor.h
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@ -75,7 +75,7 @@ public:
// access // access
const Vector3& gyro() const { return gyro_; } const Vector3& gyro() const { return gyro_; }
const Vector3& accel() const { return accel_; } const Vector3& accel() const { return accel_; }
Vector6 z() const { return (Vector6() << accel_, gyro_); } Vector6 z() const { return (Vector(6) << accel_, gyro_).finished(); }
/** /**
* Error evaluation with optional derivatives - calculates * Error evaluation with optional derivatives - calculates