12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

No more MakeParams

release/4.3a0
dellaert 2015-07-19 23:39:19 -07:00
parent 607fb4e37b
commit ee747604e7
2 changed files with 0 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
gtsam/navigation/ImuFactor.cpp
View File

@ -31,20 +31,6 @@ using namespace std;
//------------------------------------------------------------------------------
// Inner class PreintegratedMeasurements
//------------------------------------------------------------------------------
boost::shared_ptr<PreintegratedImuMeasurements::Params> PreintegratedImuMeasurements::MakeParams(
const Matrix3& measuredAccCovariance,
const Matrix3& measuredOmegaCovariance,
const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration,
bool use2ndOrderCoriolis) {
boost::shared_ptr<Params> p = boost::make_shared<Params>();
p->accelerometerCovariance = measuredAccCovariance;
p->gyroscopeCovariance = measuredOmegaCovariance;
p->integrationCovariance = integrationErrorCovariance;
p->use2ndOrderIntegration = use2ndOrderIntegration;
p->use2ndOrderCoriolis = use2ndOrderCoriolis;
return p;
}
//------------------------------------------------------------------------------
void PreintegratedImuMeasurements::print(const string& s) const {
PreintegrationBase::print(s);
}

7
gtsam/navigation/ImuFactor.h
View File

@ -50,13 +50,6 @@ protected:
public:
/// Construct parameters
static boost::shared_ptr<Params> MakeParams(
const Matrix3& measuredAccCovariance,
const Matrix3& measuredOmegaCovariance,
const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration =
false, bool use2ndOrderCoriolis = false);
/**
* Constructor, initializes the class with no measurements
* @param bias Current estimate of acceleration and rotation rate biases