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

no need to assign negative to jacobians as they cancel out later

release/4.3a0
Varun Agrawal 2021-09-17 14:20:10 -04:00
parent b0fcd17140
commit 5656308e9d
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam/navigation/CombinedImuFactor.cpp
View File

@ -110,9 +110,9 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
// and preintegrated measurements
// Single Jacobians to propagate covariance
Matrix3 theta_H_biasOmega = -C.topRows<3>();
Matrix3 pos_H_biasAcc = -B.middleRows<3>(3);
Matrix3 vel_H_biasAcc = -B.bottomRows<3>();
Matrix3 theta_H_biasOmega = C.topRows<3>();
Matrix3 pos_H_biasAcc = B.middleRows<3>(3);
Matrix3 vel_H_biasAcc = B.bottomRows<3>();
// overall Jacobian wrt preintegrated measurements (df/dx)
Eigen::Matrix<double, 15, 15> F;