From 5bc01081ee1bf4e4b28683c85a7ec7fb7c8bc38a Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 27 Apr 2025 21:03:34 -0400
Subject: [PATCH] Correct jacobian for h_gps

---
 examples/LIEKF_NavstateExample.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/examples/LIEKF_NavstateExample.cpp b/examples/LIEKF_NavstateExample.cpp
index 9798dca02..a32d367b2 100644
--- a/examples/LIEKF_NavstateExample.cpp
+++ b/examples/LIEKF_NavstateExample.cpp
@@ -46,8 +46,7 @@ Vector9 dynamics(const Vector6& imu) {
  * @return     3×1 position vector.
  */
 Vector3 h_gps(const NavState& X, OptionalJacobian<3, 9> H = {}) {
-  if (H) *H << Z_3x3, Z_3x3, X.R().matrix();
-  return X.t();
+  return X.position(H);
 }
 
 int main() {