From 74c4a60e83d1d6d6e4d4fd14303477af7c6031a7 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 24 Sep 2020 17:34:30 -0400 Subject: [PATCH] small fixes to ensure marginals are computed correctly --- python/gtsam/examples/ImuFactorExample.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/python/gtsam/examples/ImuFactorExample.py b/python/gtsam/examples/ImuFactorExample.py index eec7c5ebd..bb707a8f5 100644 --- a/python/gtsam/examples/ImuFactorExample.py +++ b/python/gtsam/examples/ImuFactorExample.py @@ -104,7 +104,7 @@ class ImuFactorExample(PreintegrationExample): if verbose: print(factor) - print(pim.predict(actual_state_i, self.actualBias)) + print(pim.predict(initial_state_i, self.actualBias)) pim.resetIntegration() @@ -125,7 +125,7 @@ class ImuFactorExample(PreintegrationExample): i += 1 # add priors on end - # self.addPrior(num_poses - 1, graph) + self.addPrior(num_poses - 1, graph) initial.print_("Initial values:")