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LieScalar does not make sense here: scale is known -> double

release/4.3a0
dellaert 2014-02-01 14:03:16 -05:00
parent a48c72ff63
commit cfe5a3663e
1 changed files with 5 additions and 4 deletions
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9
gtsam/navigation/MagFactor.h
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@ -38,7 +38,7 @@ class MagFactor: public NoiseModelFactor1<Rot2> {
public: public:
/** Constructor */ /** 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 Sphere2& direction, const Point3& bias,
const SharedNoiseModel& model) : const SharedNoiseModel& model) :
NoiseModelFactor1<Rot2>(model, key), // NoiseModelFactor1<Rot2>(model, key), //
@ -53,8 +53,9 @@ public:
static Point3 unrotate(const Rot2& R, const Point3& p, static Point3 unrotate(const Rot2& R, const Point3& p,
boost::optional<Matrix&> HR = boost::none) { boost::optional<Matrix&> HR = boost::none) {
Point3 q = Rot3::yaw(R.theta()).unrotate(p,HR); Point3 q = Rot3::yaw(R.theta()).unrotate(p, HR);
if (HR) *HR = HR->col(2); if (HR)
*HR = HR->col(2);
return q; return q;
} }
@ -83,7 +84,7 @@ class MagFactor1: public NoiseModelFactor1<Rot3> {
public: public:
/** Constructor */ /** 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 Sphere2& direction, const Point3& bias,
const SharedNoiseModel& model) : const SharedNoiseModel& model) :
NoiseModelFactor1<Rot3>(model, key), // NoiseModelFactor1<Rot3>(model, key), //