Fixed comments about order of things in covariance
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@ -111,7 +111,7 @@ public:
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/* Covariance matrix of the preintegrated measurements
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/* Covariance matrix of the preintegrated measurements
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* COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION BiasAcc BiasOmega]
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* COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY BiasAcc BiasOmega]
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* (first-order propagation from *measurementCovariance*).
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* (first-order propagation from *measurementCovariance*).
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* PreintegratedCombinedMeasurements also include the biases and keep the correlation
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* PreintegratedCombinedMeasurements also include the biases and keep the correlation
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* between the preintegrated measurements and the biases
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* between the preintegrated measurements and the biases
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@ -75,7 +75,7 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
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protected:
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Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION]
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Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY]
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///< (first-order propagation from *measurementCovariance*).
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///< (first-order propagation from *measurementCovariance*).
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public:
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public:
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