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Merged in fix/453_zero_dt (pull request #426) 

Throw exception when dt <= 0
close Issue #453
release/4.3a0
Frank Dellaert 2019-05-16 16:55:56 +00:00
parent dc774ed8e9 e1ab61be54
commit ac0d686c9c
1 changed files with 6 additions and 1 deletions
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7
gtsam/navigation/ImuFactor.cpp
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@ -52,8 +52,13 @@ void PreintegratedImuMeasurements::resetIntegration() {
//------------------------------------------------------------------------------
void PreintegratedImuMeasurements::integrateMeasurement(
const Vector3& measuredAcc, const Vector3& measuredOmega, double dt) {
if (dt <= 0) {
throw std::runtime_error(
"PreintegratedImuMeasurements::integrateMeasurement: dt <=0");
}
// Update preintegrated measurements (also get Jacobian)
Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx)
Matrix9 A; // overall Jacobian wrt preintegrated measurements (df/dx)
Matrix93 B, C;
PreintegrationType::update(measuredAcc, measuredOmega, dt, &A, &B, &C);