Commit 2872b5b1 authored by asantamaria's avatar asantamaria

TAG: Working as previous tag. Cleaned some functions and improved set_obs_phase

parent cac4131b
......@@ -3,10 +3,6 @@
EskfOdomAlgorithm::EskfOdomAlgorithm(void)
{
pthread_mutex_init(&this->access_,NULL);
// Set initial robot phase as landed
this->filter_.set_robot_phase(Robot::LANDED);
this->filter_.print_robot_phase();
}
EskfOdomAlgorithm::~EskfOdomAlgorithm(void)
......@@ -39,11 +35,6 @@ void EskfOdomAlgorithm::set_obs_phase(const bool& flying, const double& gnd_dist
this->filter_.set_obs_phase(flying,gnd_dist);
}
// void EskfOdomAlgorithm::set_obs_phase(const bool& flying)
// {
// this->filter_.set_obs_phase(flying);
// }
void EskfOdomAlgorithm::set_imu_reading(const double& t, const Eigen::Vector3d& a, const Eigen::Vector3d& w)
{
this->filter_.set_imu_reading(t,a,w);
......
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