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fix typo

release/4.3a0
Vincent Richard 2024-05-13 09:16:53 +09:00 committed by Fan Jiang
parent 0fee5cb76e
commit 42b27e4484
1 changed files with 1 additions and 1 deletions
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gtsam/navigation/PreintegrationBase.cpp
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@ -129,7 +129,7 @@ NavState PreintegrationBase::predict(const NavState& state_i,
Matrix9 D_predict_state, D_predict_delta; Matrix9 D_predict_state, D_predict_delta;
NavState state_j = state_i.retract(xi, NavState state_j = state_i.retract(xi,
H1 ? &D_predict_state : nullptr, H1 ? &D_predict_state : nullptr,
H2 || H2 ? &D_predict_delta : nullptr); H1 || H2 ? &D_predict_delta : nullptr);
if (H1) if (H1)
*H1 = D_predict_state + D_predict_delta * D_delta_state; *H1 = D_predict_state + D_predict_delta * D_delta_state;
if (H2) if (H2)