Merge pull request #1340 from ulterzlw/develop

Fixed Jacobian in python CustomFactorExample
2022-12-13 00:02:19 -05:00 · 2022-12-13 00:02:19 -05:00 · 7f19e3f43d
parent df2ac901ed 1ea6553550
commit 7f19e3f43d
1 changed files with 3 additions and 3 deletions
--- a/python/gtsam/examples/CustomFactorExample.py
+++ b/python/gtsam/examples/CustomFactorExample.py
@ -60,10 +60,10 @@ def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor,
    key1 = this.keys()[0]
    key2 = this.keys()[1]
    pos1, pos2 = values.atVector(key1), values.atVector(key2)
-    error = measurement - (pos1 - pos2)
+    error = (pos2 - pos1) - measurement
    if jacobians is not None:
-        jacobians[0] = I
-        jacobians[1] = -I
+        jacobians[0] = -I
+        jacobians[1] = I

    return error