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matrix definition on same line

release/4.3a0
Luca 2014-12-09 19:05:14 -05:00
parent b96a463b10
commit 57d83be48a
1 changed files with 2 additions and 2 deletions
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4
gtsam/navigation/PreintegrationBase.h
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@ -127,10 +127,10 @@ public:
}
deltaVij_ += temp;
Matrix3 R_i;
Matrix3 R_i, F_angles_angles;
if (F) R_i = deltaRij(); // has to be executed before updateIntegratedRotationAndDeltaT as that updates deltaRij
Matrix3 F_angles_angles;
updateIntegratedRotationAndDeltaT(incrR,deltaT, F ? &F_angles_angles : 0);
if(F){
Matrix3 F_vel_angles = - R_i * skewSymmetric(correctedAcc) * deltaT;
// pos vel angle