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Merge pull request #418 from borglab/feature/preintegration-docs 

Added more comments for clearer understanding
release/4.3a0
Frank Dellaert 2020-07-22 09:29:40 -04:00 committed by GitHub
parent b74cf4be70 3f065f25c6
commit a5c34c5b46
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1 changed files with 2 additions and 2 deletions
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gtsam/navigation/TangentPreintegration.cpp
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@ -68,7 +68,7 @@ Vector9 TangentPreintegration::UpdatePreintegrated(const Vector3& a_body,
Matrix3 w_tangent_H_theta, invH;
const Vector3 w_tangent = // angular velocity mapped back to tangent space
local.applyInvDexp(w_body, A ? &w_tangent_H_theta : 0, C ? &invH : 0);
const Rot3 R(local.expmap());
const Rot3 R(local.expmap()); // nRb: rotation of body in nav frame
const Vector3 a_nav = R * a_body;
const double dt22 = 0.5 * dt * dt;
@ -110,7 +110,7 @@ void TangentPreintegration::update(const Vector3& measuredAcc,
Vector3 acc = biasHat_.correctAccelerometer(measuredAcc);
Vector3 omega = biasHat_.correctGyroscope(measuredOmega);
// Possibly correct for sensor pose
// Possibly correct for sensor pose by converting to body frame
Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega;
if (p().body_P_sensor)
boost::tie(acc, omega) = correctMeasurementsBySensorPose(acc, omega,