From b0f27c5d4bdf0d1560d6102a5d7a85c9a48320b5 Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Sat, 16 Jan 2010 07:50:14 +0000 Subject: [PATCH] set sigma to 1 in pose2prior --- cpp/Pose2Prior.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cpp/Pose2Prior.h b/cpp/Pose2Prior.h index b777fcd83..9124c7f03 100644 --- a/cpp/Pose2Prior.h +++ b/cpp/Pose2Prior.h @@ -25,10 +25,11 @@ private: public: + typedef NonlinearFactor Base; typedef boost::shared_ptr shared_ptr; // shorthand for a smart pointer to a factor Pose2Prior(const Key& key, const Pose2& measured, const Matrix& measurement_covariance) : - key_(key),measured_(measured) { + key_(key),measured_(measured),Base(1.0) { square_root_inverse_covariance_ = inverse_square_root(measurement_covariance); keys_.push_back(key); }