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Fixed comments about order of things in covariance

release/4.3a0
Frank Dellaert 2018-12-15 14:33:18 -05:00
parent ed05fa6a7b
commit 7b1bd997f4
2 changed files with 2 additions and 2 deletions
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2
gtsam/navigation/CombinedImuFactor.h
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@ -111,7 +111,7 @@ public:
protected:
/* Covariance matrix of the preintegrated measurements
* COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION BiasAcc BiasOmega]
* COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY BiasAcc BiasOmega]
* (first-order propagation from *measurementCovariance*).
* PreintegratedCombinedMeasurements also include the biases and keep the correlation
* between the preintegrated measurements and the biases

2
gtsam/navigation/ImuFactor.h
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@ -75,7 +75,7 @@ class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
protected:
Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION]
Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY]
///< (first-order propagation from *measurementCovariance*).
public: