From a077dadc99b64275ba6a2ab8d54959e176768942 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Thu, 24 Apr 2014 15:52:11 -0400
Subject: [PATCH] added new constructor to CombinedImuFactor in matlab wrapper

---
 gtsam.h | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 5d86110aa..823a2606d 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2325,6 +2325,15 @@ class CombinedImuFactorPreintegratedMeasurements {
       Matrix biasAccCovariance,
       Matrix biasOmegaCovariance,
       Matrix biasAccOmegaInit);
+  CombinedImuFactorPreintegratedMeasurements(
+      const gtsam::imuBias::ConstantBias& bias,
+      Matrix measuredAccCovariance,
+      Matrix measuredOmegaCovariance,
+      Matrix integrationErrorCovariance,
+      Matrix biasAccCovariance,
+      Matrix biasOmegaCovariance,
+      Matrix biasAccOmegaInit,
+      bool use2ndOrderIntegration);
   CombinedImuFactorPreintegratedMeasurements(const gtsam::CombinedImuFactorPreintegratedMeasurements& rhs);
 
   // Testable