minor improvements to CombinedImuFactor
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				|  | @ -60,13 +60,14 @@ namespace po = boost::program_options; | |||
| 
 | ||||
| po::variables_map parseOptions(int argc, char* argv[]) { | ||||
|   po::options_description desc; | ||||
|   desc.add_options()("help,h", "produce help message")( | ||||
|       "data_csv_path", po::value<string>()->default_value("imuAndGPSdata.csv"), | ||||
|       "path to the CSV file with the IMU data")( | ||||
|       "output_filename", | ||||
|       po::value<string>()->default_value("imuFactorExampleResults.csv"), | ||||
|       "path to the result file to use")("use_isam", po::bool_switch(), | ||||
|                                         "use ISAM as the optimizer"); | ||||
|   desc.add_options()("help,h", "produce help message")  // help message
 | ||||
|       ("data_csv_path", po::value<string>()->default_value("imuAndGPSdata.csv"), | ||||
|        "path to the CSV file with the IMU data")  // path to the data file
 | ||||
|       ("output_filename", | ||||
|        po::value<string>()->default_value("imuFactorExampleResults.csv"), | ||||
|        "path to the result file to use")  // filename to save results to
 | ||||
|       ("use_isam", po::bool_switch(), | ||||
|        "use ISAM as the optimizer");  // flag for ISAM optimizer
 | ||||
| 
 | ||||
|   po::variables_map vm; | ||||
|   po::store(po::parse_command_line(argc, argv, desc), vm); | ||||
|  |  | |||
|  | @ -93,6 +93,11 @@ void PreintegratedCombinedMeasurements::resetIntegration() { | |||
| //------------------------------------------------------------------------------
 | ||||
| void PreintegratedCombinedMeasurements::integrateMeasurement( | ||||
|     const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) { | ||||
|   if (dt <= 0) { | ||||
|     throw std::runtime_error( | ||||
|         "PreintegratedCombinedMeasurements::integrateMeasurement: dt <=0"); | ||||
|   } | ||||
| 
 | ||||
|   // Update preintegrated measurements.
 | ||||
|   Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx)
 | ||||
|   Matrix93 B, C; | ||||
|  |  | |||
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