12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fied argument types

release/4.3a0
dellaert 2015-07-22 22:22:31 +02:00
parent a098289861
commit 9b3c051ca1
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/navigation/NavState.cpp
View File

@ -249,7 +249,7 @@ Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,
//------------------------------------------------------------------------------
Vector9 NavState::predictXi(const Vector9& pim, double dt,
const Vector3& gravity, boost::optional<const Vector3&> omegaCoriolis,
const Vector3& gravity, const boost::optional<Vector3>& omegaCoriolis,
bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1,
OptionalJacobian<9, 9> H2) const {
const Rot3& nRb = R_;
@ -294,7 +294,7 @@ Vector9 NavState::predictXi(const Vector9& pim, double dt,
}
//------------------------------------------------------------------------------
NavState NavState::predict(const Vector9& pim, double dt,
const Vector3& gravity, boost::optional<const Vector3&> omegaCoriolis,
const Vector3& gravity, const boost::optional<Vector3>& omegaCoriolis,
bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1,
OptionalJacobian<9, 9> H2) const {

4
gtsam/navigation/NavState.h
View File

@ -210,14 +210,14 @@ public:
/// Combine preintegrated measurements, in the form of a tangent space vector,
/// with gravity, velocity, and Coriolis forces into a tangent space update.
Vector9 predictXi(const Vector9& pim, double dt, const Vector3& gravity,
boost::optional<const Vector3&> omegaCoriolis, bool use2ndOrderCoriolis =
const boost::optional<Vector3>& omegaCoriolis, bool use2ndOrderCoriolis =
false, OptionalJacobian<9, 9> H1 = boost::none,
OptionalJacobian<9, 9> H2 = boost::none) const;
/// Combine preintegrated measurements, in the form of a tangent space vector,
/// with gravity, velocity, and Coriolis forces into a new state.
NavState predict(const Vector9& pim, double dt, const Vector3& gravity,
boost::optional<const Vector3&> omegaCoriolis, bool use2ndOrderCoriolis =
const boost::optional<Vector3>& omegaCoriolis, bool use2ndOrderCoriolis =
false, OptionalJacobian<9, 9> H1 = boost::none,
OptionalJacobian<9, 9> H2 = boost::none) const;
/// @}