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Fixed two missed replacements of cwiseProduct() with array().square().

release/4.3a0
Alex Hagiopol 2016-03-05 21:20:32 -05:00
parent caa45ad67b
commit 7d0b562908
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/slam/AHRS.cpp
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@ -48,7 +48,7 @@ AHRS::AHRS(const Matrix& stationaryU, const Matrix& stationaryF, double g_e,
Vector3 var_omega_w = 0 * ones(3); // TODO Vector3 var_omega_w = 0 * ones(3); // TODO
Vector3 var_omega_g = (0.0034 * 0.0034) * ones(3); Vector3 var_omega_g = (0.0034 * 0.0034) * ones(3);
Vector3 var_omega_a = (0.034 * 0.034) * ones(3); Vector3 var_omega_a = (0.034 * 0.034) * ones(3);
Vector3 sigmas_v_g_sq = sigmas_v_g.cwiseProduct(sigmas_v_g); Vector3 sigmas_v_g_sq = sigmas_v_g.array().square();
var_w_ << var_omega_w, var_omega_g, sigmas_v_g_sq, var_omega_a; var_w_ << var_omega_w, var_omega_g, sigmas_v_g_sq, var_omega_a;
// Quantities needed for aiding // Quantities needed for aiding
@ -171,7 +171,7 @@ std::pair<Mechanization_bRn2, KalmanFilter::State> AHRS::aid(
// calculate residual gravity measurement // calculate residual gravity measurement
z = n_g_ - trans(bRn) * measured_b_g; z = n_g_ - trans(bRn) * measured_b_g;
H = collect(3, &n_g_cross_, &Z_3x3, &bRn); H = collect(3, &n_g_cross_, &Z_3x3, &bRn);
R = trans(bRn) * diag(sigmas_v_a_.cwiseProduct(sigmas_v_a_)) * bRn; R = trans(bRn) * diag(sigmas_v_a_.array().square()) * bRn;
} else { } else {
// my measurement prediction (in body frame): // my measurement prediction (in body frame):
// F(:,k) = bias - b_g // F(:,k) = bias - b_g