Commit d00f4281 authored by asantamaria's avatar asantamaria

Added CSensor_base to IMU. Some variables need cleaning (currently in IMU but...

 Added CSensor_base to IMU. Some variables need cleaning (currently in IMU but repeated in Base class)
parent ca408a5d
......@@ -91,10 +91,11 @@ void EskfOdomAlgNode::read_and_set_ini_params(void)
// IMU STD values
Sensor::imu_params imu_params;
imu_params.a_std = read_vec("imu_a_std", 3);
imu_params.w_std = read_vec("imu_w_std", 3);
imu_params.ab_std = read_vec("imu_ab_std", 3);
imu_params.wb_std = read_vec("imu_wb_std", 3);
imu_params.std.segment(0,3) = read_vec("imu_a_std", 3);
imu_params.std.segment(3,3) = read_vec("imu_w_std", 3);
imu_params.std.segment(6,3) = read_vec("imu_ab_std", 3);
imu_params.std.segment(9,3) = read_vec("imu_wb_std", 3);
std::string imu_met;
this->public_node_handle_.param<std::string>("imu_method", imu_met, "continuous");
if (imu_met == "continuous")
......
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