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Correct ImuFactorExamples frame description

release/4.3a0
HMellor 2021-05-28 21:00:34 +01:00
parent 1011055007
commit 1744eaf599
2 changed files with 4 additions and 2 deletions
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3
examples/CombinedImuFactorsExample.cpp
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@ -23,7 +23,8 @@
* A row starting with "i" is the first initial position formatted with * A row starting with "i" is the first initial position formatted with
* N, E, D, qx, qY, qZ, qW, velN, velE, velD * N, E, D, qx, qY, qZ, qW, velN, velE, velD
* A row starting with "0" is an imu measurement * A row starting with "0" is an imu measurement
* linAccN, linAccE, linAccD, angVelN, angVelE, angVelD * (body frame - Forward, Right, Down)
* linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX
* A row starting with "1" is a gps correction formatted with * A row starting with "1" is a gps correction formatted with
* N, E, D, qX, qY, qZ, qW * N, E, D, qX, qY, qZ, qW
* Note that for GPS correction, we're only using the position not the * Note that for GPS correction, we're only using the position not the

3
examples/ImuFactorsExample.cpp
View File

@ -25,7 +25,8 @@
* A row starting with "i" is the first initial position formatted with * A row starting with "i" is the first initial position formatted with
* N, E, D, qx, qY, qZ, qW, velN, velE, velD * N, E, D, qx, qY, qZ, qW, velN, velE, velD
* A row starting with "0" is an imu measurement * A row starting with "0" is an imu measurement
* linAccN, linAccE, linAccD, angVelN, angVelE, angVelD * (body frame - Forward, Right, Down)
* linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX
* A row starting with "1" is a gps correction formatted with * A row starting with "1" is a gps correction formatted with
* N, E, D, qX, qY, qZ, qW * N, E, D, qX, qY, qZ, qW
* Note that for GPS correction, we're only using the position not the * Note that for GPS correction, we're only using the position not the