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Pose2Pos2 Allow different meas type
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Affie committed Aug 11, 2022
1 parent 4d218d0 commit abc9708
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4 changes: 2 additions & 2 deletions src/factors/Pose2D.jl
Original file line number Diff line number Diff line change
Expand Up @@ -51,9 +51,9 @@ end

# function calcPose2Pose2(
function (cf::CalcFactor{<:Pose2Pose2})(
X::ArrayPartition{T, Tuple{SVector{2, T}, SMatrix{2, 2, T, 4}}},
X::ArrayPartition{XT, Tuple{SVector{2, XT}, SMatrix{2, 2, XT, 4}}},
p::ArrayPartition{T, Tuple{SVector{2, T}, SMatrix{2, 2, T, 4}}},
q::ArrayPartition{T, Tuple{SVector{2, T}, SMatrix{2, 2, T, 4}}}) where T<:Real
q::ArrayPartition{T, Tuple{SVector{2, T}, SMatrix{2, 2, T, 4}}}) where {XT<:Real,T<:Real}

M = getManifold(Pose2)
ϵ0 = ArrayPartition(zeros(SVector{2,T}), SMatrix{2, 2, T}(I))
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