From 7bdaff3cd8afa4d920b9fed81ad38db150753beb Mon Sep 17 00:00:00 2001 From: acxz <17132214+acxz@users.noreply.github.com> Date: Mon, 14 Jun 2021 15:33:17 -0400 Subject: [PATCH] update timeLago.cpp with newer Sampler interface --- timing/timeLago.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/timing/timeLago.cpp b/timing/timeLago.cpp index 7aaf37e924..c3ee6ff4bc 100644 --- a/timing/timeLago.cpp +++ b/timing/timeLago.cpp @@ -41,11 +41,11 @@ int main(int argc, char *argv[]) { // add noise to create initial estimate Values initial; - Sampler sampler(42u); Values::ConstFiltered poses = solution->filter(); SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 15.0 * M_PI / 180.0).finished()); + Sampler sampler(noise); for(const Values::ConstFiltered::KeyValuePair& it: poses) - initial.insert(it.key, it.value.retract(sampler.sampleNewModel(noise))); + initial.insert(it.key, it.value.retract(sampler.sample())); // Add prior on the pose having index (key) = 0 noiseModel::Diagonal::shared_ptr priorModel = //