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fix printing of preintegration params

release/4.3a0
Varun Agrawal 2021-04-23 17:36:53 -04:00
parent 301f7fe1a3
commit 1cdc6c1db3
1 changed files with 6 additions and 5 deletions
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11
gtsam/navigation/PreintegrationBase.cpp
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@ -17,6 +17,7 @@
* @author Vadim Indelman
* @author David Jensen
* @author Frank Dellaert
* @author Varun Agrawal
**/
#include "PreintegrationBase.h"
@ -35,12 +36,12 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr<Params>& p,
//------------------------------------------------------------------------------
ostream& operator<<(ostream& os, const PreintegrationBase& pim) {
os << " deltaTij " << pim.deltaTij_ << endl;
os << " deltaTij = " << pim.deltaTij_ << endl;
os << " deltaRij.ypr = (" << pim.deltaRij().ypr().transpose() << ")" << endl;
os << " deltaPij " << Point3(pim.deltaPij()) << endl;
os << " deltaVij " << Point3(pim.deltaVij()) << endl;
os << " gyrobias " << Point3(pim.biasHat_.gyroscope()) << endl;
os << " acc_bias " << Point3(pim.biasHat_.accelerometer()) << endl;
os << " deltaPij = " << pim.deltaPij().transpose() << endl;
os << " deltaVij = " << pim.deltaVij().transpose() << endl;
os << " gyrobias = " << pim.biasHat_.gyroscope().transpose() << endl;
os << " acc_bias = " << pim.biasHat_.accelerometer().transpose() << endl;
return os;
}