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Covariance convention

release/4.3a0
Frank Dellaert 2015-12-23 12:09:28 -08:00
parent 16789c09ea
commit 27dcf8d4a2
1 changed files with 2 additions and 2 deletions
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4
gtsam/navigation/ScenarioRunner.h
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@ -97,8 +97,8 @@ class ScenarioRunner {
const ImuFactor::PreintegratedMeasurements& pim) const { const ImuFactor::PreintegratedMeasurements& pim) const {
Matrix9 cov = pim.preintMeasCov(); Matrix9 cov = pim.preintMeasCov();
Matrix6 poseCov; Matrix6 poseCov;
poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 0), // poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3), //
cov.block<3, 3>(0, 6), cov.block<3, 3>(0, 0); cov.block<3, 3>(3, 0), cov.block<3, 3>(3, 3);
return poseCov; return poseCov;
} }