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Merged in fix/ImuFactorExample2 (pull request #356) 

Fixed possibly uninitialized warnings in ImuFactorExample2.cpp
release/4.3a0
Andrei Costinescu 2018-12-16 22:59:39 +00:00 committed by Frank Dellaert
parent 7b1bd997f4 e58ba2d2af
commit 355e8cc63d
1 changed files with 3 additions and 3 deletions
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6
examples/ImuFactorExample2.cpp
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@ -108,9 +108,9 @@ int main(int argc, char* argv[]) {
initialEstimate.insert(biasKey, imuBias::ConstantBias());
}
// Predict acceleration and gyro measurements in (actual) body frame
auto measuredAcc = scenario.acceleration_b(t) -
scenario.rotation(t).transpose() * params->n_gravity;
auto measuredOmega = scenario.omega_b(t);
Vector3 measuredAcc = scenario.acceleration_b(t) -
scenario.rotation(t).transpose() * params->n_gravity;
Vector3 measuredOmega = scenario.omega_b(t);
accum.integrateMeasurement(measuredAcc, measuredOmega, delta_t);
// Add Imu Factor