Fixed sign (might need to be rethought?)

2015-03-04 23:47:27 -08:00 · 2015-03-04 23:47:27 -08:00 · 014159de44
parent 7f27a594d2
commit 014159de44
1 changed files with 1 additions and 1 deletions
--- a/gtsam/slam/JacobianFactorQ.h
+++ b/gtsam/slam/JacobianFactorQ.h
@ -68,7 +68,7 @@ public:
          KeyMatrix(key, Q.block(0, ZDim * j++, m2, ZDim) * FBlocks[k]));
    }
    // Which is then passed to the normal JacobianFactor constructor
-    JacobianFactor::fillTerms(QF, Q * b, model);
+    JacobianFactor::fillTerms(QF, - Q * b, model);
  }
 };
 // end class JacobianFactorQ