From 37d244e49b4688ee7ce43cb4db2dc9b6e2dbc310 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 16 Apr 2013 02:17:19 +0000 Subject: [PATCH] fix bug in PendulumFactor2's jacobian --- gtsam_unstable/dynamics/Pendulum.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/dynamics/Pendulum.h b/gtsam_unstable/dynamics/Pendulum.h index 2f90cd931..cb2522edf 100644 --- a/gtsam_unstable/dynamics/Pendulum.h +++ b/gtsam_unstable/dynamics/Pendulum.h @@ -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))); }