Skip to content
New issue

Have a question about this project? # for a free GitHub account to open an issue and contact its maintainers and the community.

#

By clicking “#”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? # to your account

Fix undefined behaviour in Estimator::clearState() #33

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Fix undefined behaviour in Estimator::clearState() #33

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions vins_estimator/src/estimator/estimator.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ class Estimator
Vector3d back_P0, last_P, last_P0;
double Headers[(WINDOW_SIZE + 1)];

IntegrationBase *pre_integrations[(WINDOW_SIZE + 1)];
IntegrationBase *pre_integrations[(WINDOW_SIZE + 1)] = {};
Vector3d acc_0, gyr_0;

vector<double> dt_buf[(WINDOW_SIZE + 1)];
Expand Down Expand Up @@ -158,11 +158,11 @@ class Estimator

int loop_window_index;

MarginalizationInfo *last_marginalization_info;
MarginalizationInfo *last_marginalization_info = nullptr;
vector<double *> last_marginalization_parameter_blocks;

map<double, ImageFrame> all_image_frame;
IntegrationBase *tmp_pre_integration;
IntegrationBase *tmp_pre_integration = nullptr;

Eigen::Vector3d initP;
Eigen::Matrix3d initR;
Expand Down