From 014159de44f1b7ac6667dbc794c63055bcdbd5c9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 4 Mar 2015 23:47:27 -0800 Subject: [PATCH] Fixed sign (might need to be rethought?) --- gtsam/slam/JacobianFactorQ.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h index 5dd7582cd..12f8a4c71 100644 --- 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