From b11b184f228f8c629d97bf936503d2dde5cc4a82 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 9 Jun 2020 12:14:44 -0500
Subject: [PATCH] add resetIntegrationAndSetBias to wrapper

---
 gtsam.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 94e8baee4..092355875 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2913,6 +2913,8 @@ class PreintegratedImuMeasurements {
   void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
       double deltaT);
   void resetIntegration();
+  void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);
+
   Matrix preintMeasCov() const;
   double deltaTij() const;
   gtsam::Rot3 deltaRij() const;
@@ -2972,6 +2974,8 @@ class PreintegratedCombinedMeasurements {
   void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
       double deltaT);
   void resetIntegration();
+  void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);
+
   Matrix preintMeasCov() const;
   double deltaTij() const;
   gtsam::Rot3 deltaRij() const;