Fixed forgotten compose

2016-02-08 18:58:43 -08:00 · 2016-02-08 18:58:43 -08:00 · 6eeeb3fef1
parent 3052afe42b
commit 6eeeb3fef1
1 changed files with 1 additions and 1 deletions
--- a/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
+++ b/gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
@ -75,7 +75,7 @@ int main() {
  Rot3 R2(0.473618898,   0.119523052,  0.872582019,
       0.609241153,   0.67099888, -0.422594037,
      -0.636011287,  0.731761397,  0.244979388);
-  Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
+  Point3 t2 = t1 + Point3(Vel1*measurement_dt);
  Pose3 Pose2(R2, t2);
  Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
  Vector3 Vel2 = Vel1 + dv;