Revert "added Imu parameter units to doc"

This reverts commit 845b6c55b3.

doc/ImuFactor.lyx

@@ -1,5 +1,5 @@
-#LyX 2.1 created this file. For more info see http://www.lyx.org/
+#LyX 2.0 created this file. For more info see http://www.lyx.org/
-\lyxformat 474
+\lyxformat 413
 \begin_document
 \begin_header
 \textclass article
@@ -12,13 +12,13 @@
 \font_roman default
 \font_sans default
 \font_typewriter default
-\font_math auto
 \font_default_family default
 \use_non_tex_fonts false
 \font_sc false
 \font_osf false
 \font_sf_scale 100
 \font_tt_scale 100
+
 \graphics default
 \default_output_format default
 \output_sync 0
@@ -29,24 +29,15 @@
 \use_hyperref false
 \papersize default
 \use_geometry true
-\use_package amsmath 1
+\use_amsmath 1
-\use_package amssymb 1
+\use_esint 1
-\use_package cancel 1
+\use_mhchem 1
-\use_package esint 1
+\use_mathdots 1
-\use_package mathdots 1
-\use_package mathtools 1
-\use_package mhchem 1
-\use_package stackrel 1
-\use_package stmaryrd 1
-\use_package undertilde 1
 \cite_engine basic
-\cite_engine_type default
-\biblio_style plain
 \use_bibtopic false
 \use_indices false
 \paperorientation portrait
 \suppress_date false
-\justification true
 \use_refstyle 1
 \index Index
 \shortcut idx
@@ -1391,147 +1382,6 @@ H(\theta_{k})^{-1}\Delta_{t}\\
 \end_inset
 
 
-\end_layout
-
-\begin_layout Subsubsection*
-Units
-\end_layout
-
-\begin_layout Standard
-The units of the IMU are as follows:
-\end_layout
-
-\begin_layout Standard
-\begin_inset Tabular
-<lyxtabular version="3" rows="5" columns="2">
-<features rotate="0" tabularvalignment="middle">
-<column alignment="center" valignment="top">
-<column alignment="center" valignment="top">
-<row>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-Parameter
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-Units
-\end_layout
-
-\end_inset
-</cell>
-</row>
-<row>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-gyro_noise_sigma
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-\begin_inset Formula $rad/s/\sqrt{Hz}$
-\end_inset
-
-
-\end_layout
-
-\end_inset
-</cell>
-</row>
-<row>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-accel_noise_sigma
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-\begin_inset Formula $m/s^{2}/\sqrt{Hz}$
-\end_inset
-
-
-\end_layout
-
-\end_inset
-</cell>
-</row>
-<row>
-<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-gyro_bias_rw_sigma
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-\begin_inset Formula $rad/s$
-\end_inset
-
- or 
-\begin_inset Formula $rad\sqrt{Hz}/s$
-\end_inset
-
-
-\end_layout
-
-\end_inset
-</cell>
-</row>
-<row>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-accel_bias_rw_sigma
-\end_layout
-
-\end_inset
-</cell>
-<cell alignment="center" valignment="top" topline="true" bottomline="true" leftline="true" rightline="true" usebox="none">
-\begin_inset Text
-
-\begin_layout Plain Layout
-\begin_inset Formula $m/s^{2}$
-\end_inset
-
-or 
-\begin_inset Formula $m\sqrt{Hz}/s^{2}$
-\end_inset
-
-
-\end_layout
-
-\end_inset
-</cell>
-</row>
-</lyxtabular>
-
-\end_inset
-
-
 \end_layout
 
 \begin_layout Standard