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IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically (#270)

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matlabbe
2018-03-21 21:31:41 -04:00
parent 4188da2ef2
commit 00412749e7
5 changed files with 60 additions and 16 deletions
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22
corelib/include/rtabmap/core/IMU.h
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@@ -19,11 +19,11 @@ class IMU
{
public:
IMU() {}
IMU(const Eigen::Quaterniond & orientation,
IMU(const cv::Vec4d & orientation,
const cv::Mat & orientationCovariance,
const Eigen::Vector3d & angularVelocity,
const cv::Vec3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
const Eigen::Vector3d & linearAcceleration,
const cv::Vec3d & linearAcceleration,
const cv::Mat & linearAccelerationCovariance,
const Transform & localTransform = Transform::getIdentity()) :
orientation_(orientation),
@@ -38,9 +38,9 @@ public:
UASSERT(!angularVelocityCovariance.empty() && angularVelocityCovariance.cols == 3 && angularVelocityCovariance.rows == 3 && angularVelocityCovariance.type() == CV_64FC1);
UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
}
IMU(const Eigen::Vector3d & angularVelocity,
IMU(const cv::Vec3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
const Eigen::Vector3d & linearAcceleration,
const cv::Vec3d & linearAcceleration,
const cv::Mat & linearAccelerationCovariance,
const Transform & localTransform = Transform::getIdentity()) :
angularVelocity_(angularVelocity),
@@ -53,13 +53,13 @@ public:
UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
}
const Eigen::Quaterniond & orientation() const {return orientation_;}
const cv::Vec4d & orientation() const {return orientation_;}
const cv::Mat & orientationCovariance() const {return orientationCovariance_;} // 3x3 double Row major about x, y, z axes, empty if orientation is not set
const Eigen::Vector3d & angularVelocity() const {return angularVelocity_;}
const cv::Vec3d & angularVelocity() const {return angularVelocity_;}
const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;} // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
const Eigen::Vector3d linearAcceleration() const {return linearAcceleration_;}
const cv::Vec3d linearAcceleration() const {return linearAcceleration_;}
const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;} // 3x3 double Row major x, y z, empty if linearAcceleration is not set
const Transform & localTransform() const {return localTransform_;}
@@ -71,13 +71,13 @@ public:
private:
Eigen::Quaterniond orientation_;
cv::Vec4d orientation_;
cv::Mat orientationCovariance_; // 3x3 double Row major about x, y, z axes, empty if orientation is not set
Eigen::Vector3d angularVelocity_;
cv::Vec3d angularVelocity_;
cv::Mat angularVelocityCovariance_; // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
Eigen::Vector3d linearAcceleration_;
cv::Vec3d linearAcceleration_;
cv::Mat linearAccelerationCovariance_; // 3x3 double Row major x, y z, empty if linearAcceleration is not set
Transform localTransform_;