12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

bunch of minor fixes

release/4.3a0
Varun Agrawal 2021-04-07 16:45:05 -04:00
parent d2549c6b69
commit 5ea99c4f42
3 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
gtsam/navigation/ImuFactor.cpp
View File

@ -106,6 +106,7 @@ void PreintegratedImuMeasurements::mergeWith(const PreintegratedImuMeasurements&
preintMeasCov_ = P + *H2 * pim12.preintMeasCov_ * H2->transpose(); preintMeasCov_ = P + *H2 * pim12.preintMeasCov_ * H2->transpose();
} }
#endif #endif
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// ImuFactor methods // ImuFactor methods
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------

2
gtsam/navigation/ImuFactor.h
View File

@ -192,6 +192,8 @@ public:
* @param pose_j Current pose key * @param pose_j Current pose key
* @param vel_j Current velocity key * @param vel_j Current velocity key
* @param bias Previous bias key * @param bias Previous bias key
* @param preintegratedMeasurements The preintegreated measurements since the
* last pose.
*/ */
ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
const PreintegratedImuMeasurements& preintegratedMeasurements); const PreintegratedImuMeasurements& preintegratedMeasurements);

2
gtsam/nonlinear/GncOptimizer.h
View File

@ -298,7 +298,7 @@ class GncOptimizer {
break; break;
case GncLossType::TLS: case GncLossType::TLS:
weightsConverged = true; weightsConverged = true;
for (size_t i = 0; i < weights.size(); i++) { for (int i = 0; i < weights.size(); i++) {
if (std::fabs(weights[i] - std::round(weights[i])) if (std::fabs(weights[i] - std::round(weights[i]))
> params_.weightsTol) { > params_.weightsTol) {
weightsConverged = false; weightsConverged = false;