bug: residual not stored in member variable of (pose) sensor class

[mascheiber]

@antithing recently pointed out that within the pose sensor class, the calculated residual is not stored within the member variable of the inherited UpdateSensorAbsClass:

mars_lib/source/mars/include/mars/sensors/pose/pose_sensor_class.h

Lines 202 to 204 in 18e9a92

	Eigen::MatrixXd res(res_p.rows() + res_r.rows(), 1);
	res << res_p, res_r;

Thus an access from outside the update function to the last residual is not possible.

This issue might also effect other sensor classes.

The issue was originally posted by @mascheiber in #9 (comment)

Concerning the residual printing, I just saw that this is a bug within the pose sensor class, where the value is only stored locally but not written to the residual_ member variable.

Thus thank you for pointing this out, will be providing a fix soon.

For now you could add the printing the in the pose_sensor_class.h, line 204:

mars_lib/source/mars/include/mars/sensors/pose/pose_sensor_class.h

Lines 202 to 204 in 18e9a92

	Eigen::MatrixXd res(res_p.rows() + res_r.rows(), 1);
	res << res_p, res_r;

[Chris-Bee]

Fixed by @mascheiber in 365396b