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add curly braces to make code more readable

release/4.3a0
Varun Agrawal 2023-03-17 15:50:03 -04:00
parent e331a47b6f
commit 1db3cdc780
2 changed files with 10 additions and 6 deletions
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8
gtsam/navigation/ManifoldPreintegration.cpp
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@ -67,9 +67,11 @@ void ManifoldPreintegration::update(const Vector3& measuredAcc,
// Possibly correct for sensor pose // Possibly correct for sensor pose
Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega; Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega;
if (p().body_P_sensor) if (p().body_P_sensor) {
std::tie(acc, omega) = correctMeasurementsBySensorPose(acc, omega, std::tie(acc, omega) = correctMeasurementsBySensorPose(
D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega); acc, omega, D_correctedAcc_acc, D_correctedAcc_omega,
D_correctedOmega_omega);
}
// Save current rotation for updating Jacobians // Save current rotation for updating Jacobians
const Rot3 oldRij = deltaXij_.attitude(); const Rot3 oldRij = deltaXij_.attitude();

8
gtsam/navigation/TangentPreintegration.cpp
View File

@ -111,9 +111,11 @@ void TangentPreintegration::update(const Vector3& measuredAcc,
// Possibly correct for sensor pose by converting to body frame // Possibly correct for sensor pose by converting to body frame
Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega; Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega;
if (p().body_P_sensor) if (p().body_P_sensor) {
std::tie(acc, omega) = correctMeasurementsBySensorPose(acc, omega, std::tie(acc, omega) = correctMeasurementsBySensorPose(
D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega); acc, omega, D_correctedAcc_acc, D_correctedAcc_omega,
D_correctedOmega_omega);
}
// Do update // Do update
deltaTij_ += dt; deltaTij_ += dt;