removed useless parameter, removed useless includes, fixed typos

release/4.3a0
Luca 2014-12-02 15:55:47 -05:00
parent 3ba04fba6b
commit 78f19d1aa3
1 changed files with 3 additions and 6 deletions

View File

@ -23,9 +23,7 @@
/* GTSAM includes */
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/debug.h>
namespace gtsam {
@ -63,7 +61,7 @@ public:
/**
* PreintegratedMeasurements accumulates (integrates) the IMU measurements
* (rotation rates and accelerations) and the corresponding covariance matrix.
* The measurements are then used to build the Preintegrated IMU factor (ImuFactor class).
* The measurements are then used to build the Preintegrated IMU factor (ImuFactor).
* Can be built incrementally so as to avoid costly integration at time of
* factor construction.
*/
@ -93,7 +91,7 @@ public:
public:
/**
* Default constructor, initialize the class with no measurements
* Default constructor, initializes the class with no measurements
* @param bias Current estimate of acceleration and rotation rate biases
* @param measuredAccCovariance Covariance matrix of measuredAcc
* @param measuredOmegaCovariance Covariance matrix of measured Angular Rate
@ -256,8 +254,7 @@ public:
// predicted states from IMU
static PoseVelocity Predict(const Pose3& pose_i, const Vector3& vel_i,
const imuBias::ConstantBias& bias, const PreintegratedMeasurements preintegratedMeasurements,
const Vector3& gravity, const Vector3& omegaCoriolis, boost::optional<const Pose3&> body_P_sensor = boost::none,
const bool use2ndOrderCoriolis = false);
const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false);
private: