fixed typo
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				|  | @ -29,7 +29,6 @@ struct IMUHelper { | |||
|       auto gaussian = noiseModel::Diagonal::Sigmas( | ||||
|           (Vector(6) << Vector3::Constant(5.0e-2), Vector3::Constant(5.0e-3)) | ||||
|               .finished()); | ||||
| 
 | ||||
|       auto huber = noiseModel::Robust::Create( | ||||
|           noiseModel::mEstimator::Huber::Create(1.345), gaussian); | ||||
| 
 | ||||
|  | @ -62,7 +61,7 @@ struct IMUHelper { | |||
|     // body to IMU rotation
 | ||||
|     Rot3 iRb( | ||||
|        0.036129, -0.998727,  0.035207, | ||||
|        0.045417, -0.033553, -0.99840,4 | ||||
|        0.045417, -0.033553, -0.998404, | ||||
|        0.998315,  0.037670,  0.044147); | ||||
| 
 | ||||
|     // body to IMU translation (meters)
 | ||||
|  |  | |||
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