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release/4.3a0
peterQFR 2021-12-21 08:41:47 +10:00
parent 66c8ca4af0
commit cc5c5c06ea
1 changed files with 2 additions and 2 deletions
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gtsam/navigation/BarometricFactor.cpp
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@ -46,8 +46,8 @@ Vector BarometricFactor::evaluateError(const Pose3& p, const double& bias,
boost::optional<Matrix&> H, boost::optional<Matrix&> H,
boost::optional<Matrix&> H2) const { boost::optional<Matrix&> H2) const {
Matrix tH; Matrix tH;
Vector ret =(Vector(1) << (p.translation(tH).z() + bias - nT_)).finished(); Vector ret = (Vector(1) << (p.translation(tH).z() + bias - nT_)).finished();
if (H) (*H) = tH.block<1,6>(2,0); if (H) (*H) = tH.block<1, 6>(2, 0);
if (H2) (*H2) = (Matrix(1, 1) << 1.0).finished(); if (H2) (*H2) = (Matrix(1, 1) << 1.0).finished();
return ret; return ret;
} }