From 9b3c051ca1168d057f4b9b3df3f16b7903006b1b Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 22:22:31 +0200 Subject: [PATCH] Fied argument types --- gtsam/navigation/NavState.cpp | 4 ++-- gtsam/navigation/NavState.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index aa33fe858..b63f25b4d 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -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 omegaCoriolis, + const Vector3& gravity, const boost::optional& 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 omegaCoriolis, + const Vector3& gravity, const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis, OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h index f9b046fe3..ed0345ada 100644 --- a/gtsam/navigation/NavState.h +++ b/gtsam/navigation/NavState.h @@ -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 omegaCoriolis, bool use2ndOrderCoriolis = + const boost::optional& 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 omegaCoriolis, bool use2ndOrderCoriolis = + const boost::optional& omegaCoriolis, bool use2ndOrderCoriolis = false, OptionalJacobian<9, 9> H1 = boost::none, OptionalJacobian<9, 9> H2 = boost::none) const; /// @}