From 7f1384b0f26e89136237e538779c6f6b0972c6b4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 24 Jun 2020 19:25:56 -0500
Subject: [PATCH] wrap the biasHat function for PreintegratedMeasurement

---
 gtsam.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index 614db91c7..bf4d7f4d1 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2955,6 +2955,7 @@ class PreintegratedImuMeasurements {
   gtsam::Rot3 deltaRij() const;
   Vector deltaPij() const;
   Vector deltaVij() const;
+  gtsam::imuBias::ConstantBias biasHat() const;
   Vector biasHatVector() const;
   gtsam::NavState predict(const gtsam::NavState& state_i,
       const gtsam::imuBias::ConstantBias& bias) const;
@@ -3016,6 +3017,7 @@ class PreintegratedCombinedMeasurements {
   gtsam::Rot3 deltaRij() const;
   Vector deltaPij() const;
   Vector deltaVij() const;
+  gtsam::imuBias::ConstantBias biasHat() const;
   Vector biasHatVector() const;
   gtsam::NavState predict(const gtsam::NavState& state_i,
       const gtsam::imuBias::ConstantBias& bias) const;