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replace mrpt::math::CMatrixFloat31 with MatrixS31

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Jeremie Deray
2017-08-15 13:22:56 +02:00
parent 235d8c6fdf
commit f84885b47d
2 changed files with 28 additions and 27 deletions
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15
include/rf2o_laser_odometry/CLaserOdometry2D.h
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@@ -89,7 +89,7 @@ public:
using Pose2d = Eigen::Isometry2d;
using Pose3d = Eigen::Isometry3d;
using MatrixF31 = Eigen::Matrix<Scalar, 3, 1>;
using MatrixS31 = Eigen::Matrix<Scalar, 3, 1>;
using IncrementCov = Eigen::Matrix<Scalar, 3, 3>;
CLaserOdometry2D();
@@ -140,8 +140,9 @@ protected:
Eigen::MatrixXf A,Aw;
Eigen::MatrixXf B,Bw;
Eigen::Matrix<float, 3, 1> Var; //3 unknowns: vx, vy, w
Eigen::Matrix<float, 3, 3> cov_odo;
MatrixS31 Var; //3 unknowns: vx, vy, w
IncrementCov cov_odo;
@@ -164,10 +165,10 @@ protected:
float m_runtime;
ros::Time last_odom_time, current_scan_time;
mrpt::math::CMatrixFloat31 kai_abs;
mrpt::math::CMatrixFloat31 kai_loc;
mrpt::math::CMatrixFloat31 kai_loc_old;
mrpt::math::CMatrixFloat31 kai_loc_level;
MatrixS31 kai_abs_;
MatrixS31 kai_loc_;
MatrixS31 kai_loc_old_;
MatrixS31 kai_loc_level_;
Pose3d last_increment_;
Pose3d laser_pose_on_robot_;