| 399 | } |
| 400 | |
| 401 | PosePrior ReadPosePriorRow(sqlite3_stmt* sql_stmt) { |
| 402 | PosePrior pose_prior; |
| 403 | pose_prior.pose_prior_id = |
| 404 | static_cast<pose_prior_t>(sqlite3_column_int64(sql_stmt, 0)); |
| 405 | pose_prior.corr_data_id.id = sqlite3_column_int64(sql_stmt, 1); |
| 406 | pose_prior.corr_data_id.sensor_id.id = sqlite3_column_int64(sql_stmt, 2); |
| 407 | pose_prior.corr_data_id.sensor_id.type = |
| 408 | static_cast<SensorType>(sqlite3_column_int64(sql_stmt, 3)); |
| 409 | pose_prior.position = |
| 410 | ReadStaticMatrixBlob<Eigen::Vector3d>(sql_stmt, SQLITE_ROW, 4); |
| 411 | pose_prior.position_covariance = |
| 412 | ReadStaticMatrixBlob<Eigen::Matrix3d>(sql_stmt, SQLITE_ROW, 5); |
| 413 | pose_prior.coordinate_system = static_cast<PosePrior::CoordinateSystem>( |
| 414 | sqlite3_column_int64(sql_stmt, 6)); |
| 415 | pose_prior.gravity = |
| 416 | ReadStaticMatrixBlob<Eigen::Vector3d>(sql_stmt, SQLITE_ROW, 7); |
| 417 | return pose_prior; |
| 418 | } |
| 419 | |
| 420 | void WriteRigSensors(const rig_t rig_id, |
| 421 | const Rig& rig, |
no outgoing calls
no test coverage detected