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Moved fields to protected

release/4.3a0
dellaert 2015-07-22 22:22:05 +02:00
parent 8ae4e2afd9
commit a098289861
1 changed files with 2 additions and 3 deletions
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5
gtsam/navigation/PreintegratedRotation.h
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@ -54,12 +54,11 @@ class PreintegratedRotation {
} }
}; };
private: protected:
double deltaTij_; ///< Time interval from i to j double deltaTij_; ///< Time interval from i to j
Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i) Rot3 deltaRij_; ///< Preintegrated relative orientation (in frame i)
Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias Matrix3 delRdelBiasOmega_; ///< Jacobian of preintegrated rotation w.r.t. angular rate bias
protected:
/// Parameters /// Parameters
boost::shared_ptr<const Params> p_; boost::shared_ptr<const Params> p_;
@ -138,7 +137,7 @@ class PreintegratedRotation {
/// Integrate coriolis correction in body frame rot_i /// Integrate coriolis correction in body frame rot_i
Vector3 integrateCoriolis(const Rot3& rot_i) const { Vector3 integrateCoriolis(const Rot3& rot_i) const {
if (!p_->omegaCoriolis) return Vector3::Zero(); if (!p_->omegaCoriolis) return Vector3::Zero();
return rot_i.transpose() * (*p_->omegaCoriolis) * deltaTij(); return rot_i.transpose() * (*p_->omegaCoriolis) * deltaTij_;
} }
private: private: