From e1ab61be54bffca58f0cbdcfa32d430410f86633 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 16 May 2019 11:01:08 -0400
Subject: [PATCH] Throw exception when dt<=0

---
 gtsam/navigation/ImuFactor.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index cc1dc087e..54d4ce0ed 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -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);