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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
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6
gtsam/navigation/CombinedImuFactor.cpp
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@ -110,9 +110,9 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
// and preintegrated measurements // and preintegrated measurements
// Single Jacobians to propagate covariance // Single Jacobians to propagate covariance
Matrix3 theta_H_biasOmega = -C.topRows<3>(); Matrix3 theta_H_biasOmega = C.topRows<3>();
Matrix3 pos_H_biasAcc = -B.middleRows<3>(3); Matrix3 pos_H_biasAcc = B.middleRows<3>(3);
Matrix3 vel_H_biasAcc = -B.bottomRows<3>(); Matrix3 vel_H_biasAcc = B.bottomRows<3>();
// overall Jacobian wrt preintegrated measurements (df/dx) // overall Jacobian wrt preintegrated measurements (df/dx)
Eigen::Matrix<double, 15, 15> F; Eigen::Matrix<double, 15, 15> F;