12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/navigation/CombinedImuFactor.cpp
View File

@ -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);

2
gtsam/navigation/ImuFactor.cpp
View File

@ -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);