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change from const Params back to non-const Params

release/4.3a0
Stephanie McCormick 2020-07-31 16:29:11 -04:00
parent 272a5115bd
commit b6f979fd0d
6 changed files with 10 additions and 10 deletions
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2
gtsam/navigation/AHRSFactor.h
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@ -75,7 +75,7 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
biasHat_(bias_hat), biasHat_(bias_hat),
preintMeasCov_(preint_meas_cov) {} preintMeasCov_(preint_meas_cov) {}
const Params& p() const { return *boost::static_pointer_cast<const Params>(p_);} Params& p() const { return *boost::static_pointer_cast<Params>(p_);}
const Vector3& biasHat() const { return biasHat_; } const Vector3& biasHat() const { return biasHat_; }
const Matrix3& preintMeasCov() const { return preintMeasCov_; } const Matrix3& preintMeasCov() const { return preintMeasCov_; }

4
gtsam/navigation/CombinedImuFactor.h
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@ -156,7 +156,7 @@ public:
* @param biasHat Current estimate of acceleration and rotation rate biases * @param biasHat Current estimate of acceleration and rotation rate biases
*/ */
PreintegratedCombinedMeasurements( PreintegratedCombinedMeasurements(
const boost::shared_ptr<const Params>& p, const boost::shared_ptr<Params>& p,
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()) const imuBias::ConstantBias& biasHat = imuBias::ConstantBias())
: PreintegrationType(p, biasHat) { : PreintegrationType(p, biasHat) {
preintMeasCov_.setZero(); preintMeasCov_.setZero();
@ -184,7 +184,7 @@ public:
void resetIntegration() override; void resetIntegration() override;
/// const reference to params, shadows definition in base class /// const reference to params, shadows definition in base class
const Params& p() const { return *boost::static_pointer_cast<const Params>(this->p_); } Params& p() const { return *boost::static_pointer_cast<Params>(this->p_); }
/// @} /// @}
/// @name Access instance variables /// @name Access instance variables

2
gtsam/navigation/PreintegrationBase.cpp
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@ -28,7 +28,7 @@ using namespace std;
namespace gtsam { namespace gtsam {
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
PreintegrationBase::PreintegrationBase(const boost::shared_ptr<const Params>& p, PreintegrationBase::PreintegrationBase(const boost::shared_ptr<Params>& p,
const Bias& biasHat) const Bias& biasHat)
: p_(p), biasHat_(biasHat), deltaTij_(0.0) { : p_(p), biasHat_(biasHat), deltaTij_(0.0) {
} }

8
gtsam/navigation/PreintegrationBase.h
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@ -44,7 +44,7 @@ class GTSAM_EXPORT PreintegrationBase {
typedef PreintegrationParams Params; typedef PreintegrationParams Params;
protected: protected:
boost::shared_ptr<const Params> p_; boost::shared_ptr<Params> p_;
/// Acceleration and gyro bias used for preintegration /// Acceleration and gyro bias used for preintegration
Bias biasHat_; Bias biasHat_;
@ -67,7 +67,7 @@ class GTSAM_EXPORT PreintegrationBase {
* @param p Parameters, typically fixed in a single application * @param p Parameters, typically fixed in a single application
* @param bias Current estimate of acceleration and rotation rate biases * @param bias Current estimate of acceleration and rotation rate biases
*/ */
PreintegrationBase(const boost::shared_ptr<const Params>& p, PreintegrationBase(const boost::shared_ptr<Params>& p,
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()); const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());
/// @} /// @}
@ -88,12 +88,12 @@ class GTSAM_EXPORT PreintegrationBase {
} }
/// shared pointer to params /// shared pointer to params
const boost::shared_ptr<const Params>& params() const { const boost::shared_ptr<Params>& params() const {
return p_; return p_;
} }
/// const reference to params /// const reference to params
const Params& p() const { Params& p() const {
return *p_; return *p_;
} }

2
gtsam/navigation/TangentPreintegration.cpp
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@ -24,7 +24,7 @@ using namespace std;
namespace gtsam { namespace gtsam {
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
TangentPreintegration::TangentPreintegration(const boost::shared_ptr<const Params>& p, TangentPreintegration::TangentPreintegration(const boost::shared_ptr<Params>& p,
const Bias& biasHat) : const Bias& biasHat) :
PreintegrationBase(p, biasHat) { PreintegrationBase(p, biasHat) {
resetIntegration(); resetIntegration();

2
gtsam/navigation/TangentPreintegration.h
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@ -50,7 +50,7 @@ public:
* @param p Parameters, typically fixed in a single application * @param p Parameters, typically fixed in a single application
* @param bias Current estimate of acceleration and rotation rate biases * @param bias Current estimate of acceleration and rotation rate biases
*/ */
TangentPreintegration(const boost::shared_ptr<const Params>& p, TangentPreintegration(const boost::shared_ptr<Params>& p,
const imuBias::ConstantBias& biasHat = imuBias::ConstantBias()); const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());
/// Virtual destructor /// Virtual destructor