12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

formatting

release/4.3a0
Varun Agrawal 2021-10-09 22:52:01 -04:00
parent dfa32e5020
commit 40e6d8be9b
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
doc/ImuFactor.lyx
View File

@ -82,7 +82,7 @@
\begin_body
\begin_layout Title
The new IMU Factor
The New IMU Factor
\end_layout
\begin_layout Author

4
gtsam/navigation/PreintegrationBase.cpp
View File

@ -157,9 +157,9 @@ Vector9 PreintegrationBase::computeError(const NavState& state_i,
state_j.localCoordinates(predictedState_j, H2 ? &D_error_state_j : 0,
H1 || H3 ? &D_error_predict : 0);
if (H1) *H1 << D_error_predict* D_predict_state_i;
if (H1) *H1 << D_error_predict * D_predict_state_i;
if (H2) *H2 << D_error_state_j;
if (H3) *H3 << D_error_predict* D_predict_bias_i;
if (H3) *H3 << D_error_predict * D_predict_bias_i;
return error;
}