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Favor fields not methods

release/4.3a0
dellaert 2015-07-22 22:23:14 +02:00
parent 9b3c051ca1
commit 7ccfb95339
2 changed files with 2 additions and 2 deletions
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2
gtsam/navigation/CombinedImuFactor.cpp
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@ -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 // 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 // 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 !!! // Update preintegrated measurements. TODO Frank moved from end of this function !!!
Matrix9 F_9x9; Matrix9 F_9x9;
updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F_9x9); updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F_9x9);

2
gtsam/navigation/ImuFactor.cpp
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@ -68,7 +68,7 @@ void PreintegratedImuMeasurements::integrateMeasurement(
updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT); updatePreintegratedJacobians(correctedAcc, D_Rincr_integratedOmega, Rincr, deltaT);
// Update preintegrated measurements (also get Jacobian) // 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) Matrix9 F; // overall Jacobian wrt preintegrated measurements (df/dx)
updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F); updatePreintegratedMeasurements(correctedAcc, Rincr, deltaT, F);