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added backup funtions to types

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This commit is contained in:
Vladyslav Usenko 2019-08-07 16:45:25 +02:00
parent b3304884c6
commit 29e1a76407
3 changed files with 46 additions and 3 deletions
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33
include/basalt/utils/imu_types.h
View File

@ -116,13 +116,27 @@ struct PoseVelBiasStateWithLin {
friend struct PoseStateWithLin;
inline void backup() {
backup_delta = delta;
backup_state_linearized = state_linearized;
backup_state_current = state_current;
}
inline void restore() {
delta = backup_delta;
state_linearized = backup_state_linearized;
state_current = backup_state_current;
}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
private:
bool linearized;
VecN delta;
PoseVelBiasState state_linearized, state_current;
VecN backup_delta;
PoseVelBiasState backup_state_linearized, backup_state_current;
friend class cereal::access;
template <class Archive>
@ -190,14 +204,29 @@ struct PoseStateWithLin {
inline const VecN& getDelta() const { return delta; }
inline int64_t getT_ns() const { return pose_linearized.t_ns; }
inline void backup() {
backup_delta = delta;
backup_pose_linearized = pose_linearized;
backup_T_w_i_current = T_w_i_current;
}
inline void restore() {
delta = backup_delta;
pose_linearized = backup_pose_linearized;
T_w_i_current = backup_T_w_i_current;
}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
private:
bool linearized;
VecN delta;
PoseState pose_linearized;
Sophus::SE3d T_w_i_current;
VecN backup_delta;
PoseState backup_pose_linearized;
Sophus::SE3d backup_T_w_i_current;
friend class cereal::access;
template <class Archive>

14
include/basalt/vi_estimator/landmark_database.h
View File

@ -44,7 +44,21 @@ struct KeypointPosition {
Eigen::Vector2d dir;
double id;
inline void backup() {
backup_dir = dir;
backup_id = id;
}
inline void restore() {
dir = backup_dir;
id = backup_id;
}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
private:
Eigen::Vector2d backup_dir;
double backup_id;
};
struct KeypointObservation {

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit 2ae558ce2b494d21908391b89cf13df93d0dcfa9
Subproject commit df6b2ca48658a3261370cbf9799ed69f7692525a