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Removed unused snippet

release/4.3a0
dellaert 2014-11-23 12:38:14 +01:00
parent c0c917620a
commit b2cb1aa625
1 changed files with 0 additions and 2 deletions
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gtsam/navigation/AHRSFactor.cpp
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@ -277,8 +277,6 @@ Rot3 AHRSFactor::predict(const Rot3& rot_i, const imuBias::ConstantBias& bias,
const Vector3& omegaCoriolis, boost::optional<const Pose3&> body_P_sensor) { const Vector3& omegaCoriolis, boost::optional<const Pose3&> body_P_sensor) {
const double& deltaTij = preintegratedMeasurements.deltaTij_; const double& deltaTij = preintegratedMeasurements.deltaTij_;
// const Vector3 biasAccIncr = bias.accelerometer()
-preintegratedMeasurements.biasHat_.accelerometer();
const Vector3 biasOmegaIncr = bias.gyroscope() const Vector3 biasOmegaIncr = bias.gyroscope()
- preintegratedMeasurements.biasHat_.gyroscope(); - preintegratedMeasurements.biasHat_.gyroscope();