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static const for placeholder vars

release/4.3a0
Asa Hammond 2021-02-25 18:37:10 -08:00
parent 34a7ce0d0d
commit d7c565d885
1 changed files with 2 additions and 2 deletions
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4
gtsam/navigation/ConstantVelocityFactor.h
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@ -35,8 +35,8 @@ class ConstantVelocityFactor : public NoiseModelFactor2<NavState, NavState> {
boost::optional<gtsam::Matrix &> H1 = boost::none, boost::optional<gtsam::Matrix &> H1 = boost::none,
boost::optional<gtsam::Matrix &> H2 = boost::none) const override { boost::optional<gtsam::Matrix &> H2 = boost::none) const override {
// only used to use update() below // only used to use update() below
const Vector3 b_accel{0.0, 0.0, 0.0}; static const Vector3 b_accel{0.0, 0.0, 0.0};
const Vector3 b_omega{0.0, 0.0, 0.0}; static const Vector3 b_omega{0.0, 0.0, 0.0};
Matrix predicted_H_x1; Matrix predicted_H_x1;
NavState predicted = x1.update(b_accel, b_omega, dt_, predicted_H_x1, {}, {}); NavState predicted = x1.update(b_accel, b_omega, dt_, predicted_H_x1, {}, {});