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Fixed sign (might need to be rethought?)

release/4.3a0
dellaert 2015-03-04 23:47:27 -08:00
parent 7f27a594d2
commit 014159de44
1 changed files with 1 additions and 1 deletions
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gtsam/slam/JacobianFactorQ.h
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@ -68,7 +68,7 @@ public:
KeyMatrix(key, Q.block(0, ZDim * j++, m2, ZDim) * FBlocks[k])); KeyMatrix(key, Q.block(0, ZDim * j++, m2, ZDim) * FBlocks[k]));
} }
// Which is then passed to the normal JacobianFactor constructor // Which is then passed to the normal JacobianFactor constructor
JacobianFactor::fillTerms(QF, Q * b, model); JacobianFactor::fillTerms(QF, - Q * b, model);
} }
}; };
// end class JacobianFactorQ // end class JacobianFactorQ