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Renamed static: interestingly, does not seem to be used anywhere...

release/4.3a0
dellaert 2014-11-23 12:39:23 +01:00
parent b2cb1aa625
commit 1ad662e35b
2 changed files with 3 additions and 4 deletions
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4
gtsam/navigation/AHRSFactor.cpp
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@ -119,7 +119,7 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement(
Matrix3 H_angles_angles = Jrinv_theta_j * incrRt * Jr_theta_i; Matrix3 H_angles_angles = Jrinv_theta_j * incrRt * Jr_theta_i;
// analytic expression corresponding to the following numerical derivative // analytic expression corresponding to the following numerical derivative
// Matrix H_angles_angles = numericalDerivative11<LieVector, LieVector> // Matrix H_angles_angles = numericalDerivative11<LieVector, LieVector>
// (boost::bind(&PreIntegrateIMUObservations_delta_angles, correctedOmega, deltaT, _1), thetaij); // (boost::bind(&DeltaAngles, correctedOmega, deltaT, _1), thetaij);
// overall Jacobian wrpt preintegrated measurements (df/dx) // overall Jacobian wrpt preintegrated measurements (df/dx)
const Matrix3& F = H_angles_angles; const Matrix3& F = H_angles_angles;
@ -136,7 +136,7 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement(
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
Vector AHRSFactor::PreintegratedMeasurements::PreIntegrateIMUObservations_delta_angles( Vector AHRSFactor::PreintegratedMeasurements::DeltaAngles(
const Vector& msr_gyro_t, const double msr_dt, const Vector& msr_gyro_t, const double msr_dt,
const Vector3& delta_angles) { const Vector3& delta_angles) {

3
gtsam/navigation/AHRSFactor.h
View File

@ -99,8 +99,7 @@ public:
// This function is only used for test purposes // This function is only used for test purposes
// (compare numerical derivatives wrt analytic ones) // (compare numerical derivatives wrt analytic ones)
static Vector PreIntegrateIMUObservations_delta_angles( static Vector DeltaAngles(const Vector& msr_gyro_t, const double msr_dt,
const Vector& msr_gyro_t, const double msr_dt,
const Vector3& delta_angles); const Vector3& delta_angles);
private: private: