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small fixes to ensure marginals are computed correctly

release/4.3a0
Varun Agrawal 2020-09-24 17:34:30 -04:00
parent a4c3623701
commit 74c4a60e83
1 changed files with 2 additions and 2 deletions
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4
python/gtsam/examples/ImuFactorExample.py
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@ -104,7 +104,7 @@ class ImuFactorExample(PreintegrationExample):
if verbose: if verbose:
print(factor) print(factor)
print(pim.predict(actual_state_i, self.actualBias)) print(pim.predict(initial_state_i, self.actualBias))
pim.resetIntegration() pim.resetIntegration()
@ -125,7 +125,7 @@ class ImuFactorExample(PreintegrationExample):
i += 1 i += 1
# add priors on end # add priors on end
# self.addPrior(num_poses - 1, graph) self.addPrior(num_poses - 1, graph)
initial.print_("Initial values:") initial.print_("Initial values:")