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Index: hector_pose_estimation_core/include/hector_pose_estimation/input.h
===================================================================
--- hector_pose_estimation_core.orig/include/hector_pose_estimation/input.h
+++ hector_pose_estimation_core/include/hector_pose_estimation/input.h
@@ -79,7 +79,7 @@ public:
return *variance_;
}
- virtual bool hasVariance() const { return variance_; }
+ virtual bool hasVariance() const { return variance_ != NULL; }
virtual Variance const &getVariance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
virtual Variance const &getVariance() const { return *variance_; }
virtual Variance& variance() { if (!variance_) variance_.reset(new Variance); return *variance_; }
Index: hector_pose_estimation_core/src/system/imu_model.cpp
===================================================================
--- hector_pose_estimation_core.orig/src/system/imu_model.cpp
+++ hector_pose_estimation_core/src/system/imu_model.cpp
@@ -51,7 +51,7 @@ GyroModel::~GyroModel()
bool GyroModel::init(PoseEstimation& estimator, System &system, State& state)
{
bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
- return bias_;
+ return bias_ != NULL;
}
void GyroModel::getPrior(State &state)
@@ -113,7 +113,7 @@ AccelerometerModel::~AccelerometerModel(
bool AccelerometerModel::init(PoseEstimation& estimator, System &system, State& state)
{
bias_ = state.addSubState<3,3>(this, system.getName() + "_bias");
- return bias_;
+ return bias_ != NULL;
}
void AccelerometerModel::getPrior(State &state)
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