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Small savings of matrix-vector mult

release/4.3a0
dellaert 2014-11-23 13:57:27 +01:00
parent 490520d6d0
commit 36bc1d3e3f
1 changed files with 3 additions and 2 deletions
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5
gtsam/navigation/AHRSFactor.cpp
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@ -139,14 +139,15 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement(
Vector3 AHRSFactor::PreintegratedMeasurements::predict(
const imuBias::ConstantBias& bias, boost::optional<Matrix&> H) const {
const Vector3 biasOmegaIncr = bias.gyroscope() - biasHat_.gyroscope();
Vector3 delRdelBiasOmega_biasOmegaIncr = delRdelBiasOmega_ * biasOmegaIncr;
const Rot3 deltaRij_biascorrected = deltaRij_.retract(
delRdelBiasOmega_ * biasOmegaIncr, Rot3::EXPMAP);
delRdelBiasOmega_biasOmegaIncr, Rot3::EXPMAP);
const Vector3 theta_biascorrected = Rot3::Logmap(deltaRij_biascorrected);
if (H) {
const Matrix3 Jrinv_theta_bc = //
Rot3::rightJacobianExpMapSO3inverse(theta_biascorrected);
const Matrix3 Jr_JbiasOmegaIncr = //
Rot3::rightJacobianExpMapSO3(delRdelBiasOmega_ * biasOmegaIncr);
Rot3::rightJacobianExpMapSO3(delRdelBiasOmega_biasOmegaIncr);
(*H) = Jrinv_theta_bc * Jr_JbiasOmegaIncr * delRdelBiasOmega_;
}
return theta_biascorrected;