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fix bug in PendulumFactor2's jacobian

release/4.3a0
Duy-Nguyen Ta 2013-04-16 02:17:19 +00:00
parent 6a139bd0f8
commit 37d244e49b
1 changed files with 1 additions and 1 deletions
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2
gtsam_unstable/dynamics/Pendulum.h
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@ -99,7 +99,7 @@ public:
const size_t p = LieScalar::Dim();
if (H1) *H1 = -eye(p);
if (H2) *H2 = eye(p);
if (H3) *H3 = -eye(p)*dt_*g_/L_*sin(q.value());
if (H3) *H3 = -eye(p)*dt_*g_/L_*cos(q.value());
return vk1.localCoordinates(LieScalar(vk - dt_*g_/L_*sin(q)));
}