From 42b27e4484e9deea43a87b648d40b1b1db2d86e4 Mon Sep 17 00:00:00 2001 From: Vincent Richard Date: Mon, 13 May 2024 09:16:53 +0900 Subject: [PATCH] fix typo --- gtsam/navigation/PreintegrationBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f573c4010..7f998987b 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -129,7 +129,7 @@ NavState PreintegrationBase::predict(const NavState& state_i, Matrix9 D_predict_state, D_predict_delta; NavState state_j = state_i.retract(xi, H1 ? &D_predict_state : nullptr, - H2 || H2 ? &D_predict_delta : nullptr); + H1 || H2 ? &D_predict_delta : nullptr); if (H1) *H1 = D_predict_state + D_predict_delta * D_delta_state; if (H2)