From 7ccfb95339421203edc1e605e96b41bfe9ac3b06 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 22 Jul 2015 22:23:14 +0200 Subject: [PATCH] Favor fields not methods --- gtsam/navigation/CombinedImuFactor.cpp | 2 +- gtsam/navigation/ImuFactor.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 620305d77..2d58534aa 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -74,7 +74,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement( // can be seen as a prediction phase in an EKF framework. In this implementation, contrarily to [2] we // consider the uncertainty of the bias selection and we keep correlation between biases and preintegrated measurements /* ----------------------------------------------------------------------------------------------------------------------- */ - const Matrix3 dRij = deltaRij().matrix(); // expensive when quaternion + const Matrix3 dRij = deltaRij_.matrix(); // expensive when quaternion // Update preintegrated measurements. TODO Frank moved from end of this function !!! Matrix9 F_9x9; updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F_9x9); diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp index 7d6b77d07..058ea1538 100644 --- a/gtsam/navigation/ImuFactor.cpp +++ b/gtsam/navigation/ImuFactor.cpp @@ -68,7 +68,7 @@ void PreintegratedImuMeasurements::integrateMeasurement( updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); // Update preintegrated measurements (also get Jacobian) - const Matrix3 dRij = deltaRij().matrix(); // store this, which is useful to compute G_test + const Matrix3 dRij = deltaRij_.matrix(); // store this, which is useful to compute G_test Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx) updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F);