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Merge pull request #771 from HMellor/develop 

Correct ImuFactorExamples frame description
release/4.3a0
Varun Agrawal 2021-06-09 22:46:15 -04:00 committed by GitHub
parent 6f02ebde14 1744eaf599
commit b582b5b063
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2 changed files with 4 additions and 2 deletions
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3
examples/CombinedImuFactorsExample.cpp
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@ -23,7 +23,8 @@
* A row starting with "i" is the first initial position formatted with
* N, E, D, qx, qY, qZ, qW, velN, velE, velD
* A row starting with "0" is an imu measurement
* linAccN, linAccE, linAccD, angVelN, angVelE, angVelD
* (body frame - Forward, Right, Down)
* linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX
* A row starting with "1" is a gps correction formatted with
* N, E, D, qX, qY, qZ, qW
* Note that for GPS correction, we're only using the position not the

3
examples/ImuFactorsExample.cpp
View File

@ -25,7 +25,8 @@
* A row starting with "i" is the first initial position formatted with
* N, E, D, qx, qY, qZ, qW, velN, velE, velD
* A row starting with "0" is an imu measurement
* linAccN, linAccE, linAccD, angVelN, angVelE, angVelD
* (body frame - Forward, Right, Down)
* linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX
* A row starting with "1" is a gps correction formatted with
* N, E, D, qX, qY, qZ, qW
* Note that for GPS correction, we're only using the position not the