From 6d97b8d3db81c93ec8356f5333e0ebb90c692d2c Mon Sep 17 00:00:00 2001 From: lvzhaoyang Date: Mon, 8 Dec 2014 10:41:52 -0500 Subject: [PATCH] Small fix of IMUKittiExampleAdvanced. Now the same priorFactor issue --- matlab/unstable_examples/IMUKittiExampleAdvanced.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/matlab/unstable_examples/IMUKittiExampleAdvanced.m b/matlab/unstable_examples/IMUKittiExampleAdvanced.m index dfca798c6..cb13eacee 100644 --- a/matlab/unstable_examples/IMUKittiExampleAdvanced.m +++ b/matlab/unstable_examples/IMUKittiExampleAdvanced.m @@ -71,7 +71,7 @@ clear logposes relposes %% Get initial conditions for the estimated trajectory % % % currentPoseGlobal = Pose3(Rot3, GPS_data(firstGPSPose).Position); % initial pose is the reference frame (navigation frame) currentPoseGlobal = Pose3; -currentVelocityGlobal = LieVector([0;0;0]); % the vehicle is stationary at the beginning +currentVelocityGlobal = [0;0;0]; % the vehicle is stationary at the beginning currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1)); sigma_init_x = noiseModel.Isotropic.Sigma(6, 0.01); sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0); @@ -120,7 +120,7 @@ for measurementIndex = 1:length(timestamps) newValues.insert(currentVelKey, currentVelocityGlobal); newValues.insert(currentBiasKey, currentBias); newFactors.add(PriorFactorPose3(currentPoseKey, currentPoseGlobal, sigma_init_x)); - newFactors.add(PriorFactorLieVector(currentVelKey, currentVelocityGlobal, sigma_init_v)); + newFactors.add(PriorFactorVector(currentVelKey, currentVelocityGlobal, sigma_init_v)); newFactors.add(PriorFactorConstantBias(currentBiasKey, currentBias, sigma_init_b)); else t_previous = timestamps(measurementIndex-1, 1);