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added get to access gravity vector

release/4.3a0
Luca 2017-04-01 13:05:34 -04:00
parent 2d3f4dba88
commit b5acfc5a0f
1 changed files with 1 additions and 0 deletions
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gtsam/navigation/PreintegrationParams.h
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@ -56,6 +56,7 @@ struct PreintegrationParams: PreintegratedRotationParams {
const Matrix3& getAccelerometerCovariance() const { return accelerometerCovariance; } const Matrix3& getAccelerometerCovariance() const { return accelerometerCovariance; }
const Matrix3& getIntegrationCovariance() const { return integrationCovariance; } const Matrix3& getIntegrationCovariance() const { return integrationCovariance; }
const Vector3& getGravity() const { return n_gravity; }
bool getUse2ndOrderCoriolis() const { return use2ndOrderCoriolis; } bool getUse2ndOrderCoriolis() const { return use2ndOrderCoriolis; }
protected: protected: