From a866df16da718a783898b8b061ecb54cb952ee61 Mon Sep 17 00:00:00 2001 From: Asa Hammond Date: Sat, 17 Apr 2021 07:42:41 -0700 Subject: [PATCH 1/2] Remove unused body_P_sensor param --- gtsam/navigation/CombinedImuFactor.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 0aeeabc22..0c7ba7547 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -212,8 +212,6 @@ public: * sensor) * @param measuredOmega Measured angular velocity (as given by the sensor) * @param deltaT Time interval between two consecutive IMU measurements - * @param body_P_sensor Optional sensor frame (pose of the IMU in the body - * frame) */ void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt) override; From d8105ca73e8a9170cb58d6cd9a83bf695c9b4ba4 Mon Sep 17 00:00:00 2001 From: Asa Hammond Date: Sun, 18 Apr 2021 08:32:16 -0700 Subject: [PATCH 2/2] update docstring for dt param --- gtsam/navigation/CombinedImuFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 0c7ba7547..ed94750b7 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -211,7 +211,7 @@ public: * @param measuredAcc Measured acceleration (in body frame, as given by the * sensor) * @param measuredOmega Measured angular velocity (as given by the sensor) - * @param deltaT Time interval between two consecutive IMU measurements + * @param dt Time interval between two consecutive IMU measurements */ void integrateMeasurement(const Vector3& measuredAcc, const Vector3& measuredOmega, const double dt) override;