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Fixed sign of 2D version

release/4.3a0
dellaert 2014-02-01 10:33:17 -05:00
parent 5369a7bd17
commit a48c72ff63
2 changed files with 4 additions and 3 deletions
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5
gtsam/navigation/MagFactor.h
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@ -26,7 +26,8 @@ namespace gtsam {
/** /**
* Factor to estimate rotation given magnetometer reading * Factor to estimate rotation given magnetometer reading
* This version uses model measured bM = scale * bRn * direction + bias * This version uses model measured bM = scale * bRn * direction + bias
* and assumes scale, direction, and the bias are given * and assumes scale, direction, and the bias are given.
* Rotation is around negative Z axis, i.e. positive is yaw to right!
*/ */
class MagFactor: public NoiseModelFactor1<Rot2> { class MagFactor: public NoiseModelFactor1<Rot2> {
@ -52,7 +53,7 @@ public:
static Point3 unrotate(const Rot2& R, const Point3& p, static Point3 unrotate(const Rot2& R, const Point3& p,
boost::optional<Matrix&> HR = boost::none) { boost::optional<Matrix&> HR = boost::none) {
Point3 q = Rot3::yaw(R.theta()).rotate(p,HR); Point3 q = Rot3::yaw(R.theta()).unrotate(p,HR);
if (HR) *HR = HR->col(2); if (HR) *HR = HR->col(2);
return q; return q;
} }

2
gtsam/navigation/tests/testMagFactor.cpp
View File

@ -41,7 +41,7 @@ Point3 nM(22653.29982, -1956.83010, 44202.47862);
double scale = 255.0 / 50000.0; double scale = 255.0 / 50000.0;
// ...ground truth orientation, // ...ground truth orientation,
Rot3 nRb = Rot3::yaw(-0.1); Rot3 nRb = Rot3::yaw(-0.1);
Rot2 theta = -nRb.yaw(); Rot2 theta = nRb.yaw();
// ...and bias // ...and bias
Point3 bias(10, -10, 50); Point3 bias(10, -10, 50);
// ... then we measure // ... then we measure