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release/4.3a0
Luca 2014-07-30 19:01:11 -04:00
parent cedabdce81
commit 92b113d173
1 changed files with 3 additions and 3 deletions
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gtsam/slam/GaussMarkov1stOrderFactor.h
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@ -11,7 +11,7 @@
/** /**
* @file GaussMarkov1stOrderFactor.h * @file GaussMarkov1stOrderFactor.h
* @author Vadim Indelman, Stephen Williams * @author Vadim Indelman, Stephen Williams, Luca Carlone
* @date Jan 17, 2012 * @date Jan 17, 2012
**/ **/
#pragma once #pragma once
@ -63,7 +63,7 @@ public:
/** Constructor */ /** Constructor */
GaussMarkov1stOrderFactor(const Key& key1, const Key& key2, double delta_t, Vector tau, GaussMarkov1stOrderFactor(const Key& key1, const Key& key2, double delta_t, Vector tau,
const SharedGaussian& model) : const SharedGaussian& model) :
Base(calc_descrete_noise_model(model, delta_t), key1, key2), dt_(delta_t), tau_(tau) { Base(calcDiscreteNoiseModel(model, delta_t), key1, key2), dt_(delta_t), tau_(tau) {
} }
virtual ~GaussMarkov1stOrderFactor() {} virtual ~GaussMarkov1stOrderFactor() {}
@ -120,7 +120,7 @@ private:
ar & BOOST_SERIALIZATION_NVP(tau_); ar & BOOST_SERIALIZATION_NVP(tau_);
} }
SharedGaussian calc_descrete_noise_model(const SharedGaussian& model, double delta_t){ SharedGaussian calcDiscreteNoiseModel(const SharedGaussian& model, double delta_t){
/* Q_d (approx)= Q * delta_t */ /* Q_d (approx)= Q * delta_t */
/* In practice, square root of the information matrix is represented, so that: /* In practice, square root of the information matrix is represented, so that:
* R_d (approx)= R / sqrt(delta_t) * R_d (approx)= R / sqrt(delta_t)