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Pick out correct blocks

release/4.3a0
Frank Dellaert 2015-12-22 19:09:05 -08:00
parent 380d0dc989
commit 9b559b3620
1 changed files with 3 additions and 3 deletions
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6
gtsam/navigation/ScenarioRunner.h
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@ -74,10 +74,10 @@ class ScenarioRunner {
/// Return pose covariance by re-arranging pim.preintMeasCov() appropriately
Matrix6 poseCovariance(
const ImuFactor::PreintegratedMeasurements& pim) const {
Matrix9 cov = pim.preintMeasCov(); // _ position rotation
Matrix9 cov = pim.preintMeasCov();
Matrix6 poseCov;
poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 3), //
cov.block<3, 3>(3, 6), cov.block<3, 3>(3, 3);
poseCov << cov.block<3, 3>(0, 0), cov.block<3, 3>(0, 3), //
cov.block<3, 3>(3, 0), cov.block<3, 3>(3, 3);
return poseCov;
}