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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
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2
doc/ImuFactor.lyx
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@ -82,7 +82,7 @@
\begin_body \begin_body
\begin_layout Title \begin_layout Title
The new IMU Factor The New IMU Factor
\end_layout \end_layout
\begin_layout Author \begin_layout Author

4
gtsam/navigation/PreintegrationBase.cpp
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@ -157,9 +157,9 @@ Vector9 PreintegrationBase::computeError(const NavState& state_i,
state_j.localCoordinates(predictedState_j, H2 ? &D_error_state_j : 0, state_j.localCoordinates(predictedState_j, H2 ? &D_error_state_j : 0,
H1 || H3 ? &D_error_predict : 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 (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; return error;
} }