From 27dcf8d4a263ed9b49e75cab77f2b5430773c3a4 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Wed, 23 Dec 2015 12:09:28 -0800
Subject: [PATCH] Covariance convention

---
 gtsam/navigation/ScenarioRunner.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h
index 60cc9a751..88041b6f6 100644
--- a/gtsam/navigation/ScenarioRunner.h
+++ b/gtsam/navigation/ScenarioRunner.h
@@ -97,8 +97,8 @@ class ScenarioRunner {
       const ImuFactor::PreintegratedMeasurements& pim) const {
     Matrix9 cov = pim.preintMeasCov();
     Matrix6 poseCov;
-    poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 0),  //
-        cov.block<3, 3>(0, 6), cov.block<3, 3>(0, 0);
+    poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3),  //
+        cov.block<3, 3>(3, 0), cov.block<3, 3>(3, 3);
     return poseCov;
   }