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Merge pull request #736 from borglab/fix/minor 

Bunch of minor fixes
release/4.3a0
Varun Agrawal 2021-04-08 06:35:19 -04:00 committed by GitHub
parent 58cc7b80e0 5ea99c4f42
commit 276eaafc34
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 4 additions and 1 deletions
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1
gtsam/navigation/ImuFactor.cpp
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@ -106,6 +106,7 @@ void PreintegratedImuMeasurements::mergeWith(const PreintegratedImuMeasurements&
preintMeasCov_ = P + *H2 * pim12.preintMeasCov_ * H2->transpose();
}
#endif
//------------------------------------------------------------------------------
// ImuFactor methods
//------------------------------------------------------------------------------

2
gtsam/navigation/ImuFactor.h
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@ -192,6 +192,8 @@ public:
* @param pose_j Current pose key
* @param vel_j Current velocity key
* @param bias Previous bias key
* @param preintegratedMeasurements The preintegreated measurements since the
* last pose.
*/
ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
const PreintegratedImuMeasurements& preintegratedMeasurements);

2
gtsam/nonlinear/GncOptimizer.h
View File

@ -298,7 +298,7 @@ class GncOptimizer {
break;
case GncLossType::TLS:
weightsConverged = true;
for (size_t i = 0; i < weights.size(); i++) {
for (int i = 0; i < weights.size(); i++) {
if (std::fabs(weights[i] - std::round(weights[i]))
> params_.weightsTol) {
weightsConverged = false;