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Merge pull request #230 from mindThomas/patch-1 

Corrected Bias key index in IMUKittiExampleGPS.m
release/4.3a0
Frank Dellaert 2020-02-25 08:38:12 -05:00 committed by GitHub
parent 09b0f03542 d8866f1497
commit 57da7b31d0
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1 changed files with 1 additions and 1 deletions
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matlab/gtsam_examples/IMUKittiExampleGPS.m
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@ -99,7 +99,7 @@ for measurementIndex = firstGPSPose:length(GPS_data)
newFactors.add(ImuFactor( ...
currentPoseKey-1, currentVelKey-1, ...
currentPoseKey, currentVelKey, ...
currentBiasKey, currentSummarizedMeasurement));
currentBiasKey-1, currentSummarizedMeasurement));
% Bias evolution as given in the IMU metadata
newFactors.add(BetweenFactorConstantBias(currentBiasKey-1, currentBiasKey, imuBias.ConstantBias(zeros(3,1), zeros(3,1)), ...