Merge pull request #254 from JuliaRobotics/hotfix/1Q20/mmp2constr

revert to proper mpp constructor
JuliaRobotics · Mar 9, 2020 · 0424b5f · 0424b5f
2 parents c12c43d + f8e2b76
commit 0424b5f
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/factors/MutablePose2Pose2.jl b/src/factors/MutablePose2Pose2.jl
@@ -11,7 +11,7 @@ Specialized Pose2Pose2 factor type (Gaussian), which allows for rapid accumulati
 mutable struct MutablePose2Pose2Gaussian  <: IIF.FunctorPairwise
   Zij::MvNormal
   timestamp::DateTime
-  MutablePose2Pose2Gaussian(zdir=nothing;Zij::MvNormal=MvNormal(zeros(3),Matrix(Diagonal([0.01; 0.01; 0.001].^2))), timestamp::DateTime=now()) = new(zdir == nothing ? Zij : zdir, timestamp)
+  MutablePose2Pose2Gaussian(Zij::MvNormal=MvNormal(zeros(3),Matrix(Diagonal([0.01; 0.01; 0.001].^2))), timestamp::DateTime=now()) = new(Zij, timestamp)
 end
 function getSample(fct::MutablePose2Pose2Gaussian, N::Int=100)
   return (rand(fct.Zij, N), )
@@ -56,7 +56,7 @@ mutable struct PackedMutablePose2Pose2Gaussian  <: IIF.PackedInferenceType
   PackedMutablePose2Pose2Gaussian(x::String, ts::Int=datetime2unix(now())*1e3 |> Int) = new(x, ts)
 end
 function convert(::Type{MutablePose2Pose2Gaussian}, d::PackedMutablePose2Pose2Gaussian)
-  return MutablePose2Pose2Gaussian(Zij=extractdistribution(d.datastr), timestamp=unix2datetime(d.timestamp*1e-3))
+  return MutablePose2Pose2Gaussian(extractdistribution(d.datastr), timestamp=unix2datetime(d.timestamp*1e-3))
 end
 function convert(::Type{PackedMutablePose2Pose2Gaussian}, d::MutablePose2Pose2Gaussian)
   return PackedMutablePose2Pose2Gaussian(string(d.Zij), datetime2unix(d.timestamp)*1e3 |> Int)

diff --git a/test/testDeadReckoningTether.jl b/test/testDeadReckoningTether.jl
@@ -39,7 +39,7 @@ addFactor!(fg, [:x0; :l1], p2br )
 
 addVariable!(fg, :deadreckon_x0, Pose2, solvable=0)
 
-drec = MutablePose2Pose2Gaussian(Zij=MvNormal(zeros(3), Matrix{Float64}(LinearAlgebra.I, 3,3)))
+drec = MutablePose2Pose2Gaussian(MvNormal(zeros(3), Matrix{Float64}(LinearAlgebra.I, 3,3)))
 
 addFactor!(fg, [:x0; :deadreckon_x0], drec, solvable=0)
 

diff --git a/test/testDeltaOdo.jl b/test/testDeltaOdo.jl
@@ -60,7 +60,7 @@ DX = extractDeltaOdo(XX, YY, TH)
 ## Test accumulation function from OdometryUtils.jl
 
 
-mpp = MutablePose2Pose2Gaussian(Zij=MvNormal([XX[1];YY[1];TH[1]], 1e-3*Matrix(LinearAlgebra.I, 3,3)))
+mpp = MutablePose2Pose2Gaussian(MvNormal([XX[1];YY[1];TH[1]], 1e-3*Matrix(LinearAlgebra.I, 3,3)))
 dt = 1.0
 nXYT = zeros(3,size(DX,2))
 Qc = 1e-6*Matrix(LinearAlgebra.I, 3,3)