From cfe5a3663ed047c13fe3ea690b99fc3ced42ab20 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 1 Feb 2014 14:03:16 -0500 Subject: [PATCH] LieScalar does not make sense here: scale is known -> double --- gtsam/navigation/MagFactor.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/MagFactor.h b/gtsam/navigation/MagFactor.h index 61ffd2d5d..6c47523a6 100644 --- a/gtsam/navigation/MagFactor.h +++ b/gtsam/navigation/MagFactor.h @@ -38,7 +38,7 @@ class MagFactor: public NoiseModelFactor1 { public: /** Constructor */ - MagFactor(Key key, const Point3& measured, const LieScalar& scale, + MagFactor(Key key, const Point3& measured, double scale, const Sphere2& direction, const Point3& bias, const SharedNoiseModel& model) : NoiseModelFactor1(model, key), // @@ -53,8 +53,9 @@ public: static Point3 unrotate(const Rot2& R, const Point3& p, boost::optional HR = boost::none) { - Point3 q = Rot3::yaw(R.theta()).unrotate(p,HR); - if (HR) *HR = HR->col(2); + Point3 q = Rot3::yaw(R.theta()).unrotate(p, HR); + if (HR) + *HR = HR->col(2); return q; } @@ -83,7 +84,7 @@ class MagFactor1: public NoiseModelFactor1 { public: /** Constructor */ - MagFactor1(Key key, const Point3& measured, const LieScalar& scale, + MagFactor1(Key key, const Point3& measured, double scale, const Sphere2& direction, const Point3& bias, const SharedNoiseModel& model) : NoiseModelFactor1(model, key), //