From cff6d814ebfdc683e8b9c76f443b05e8addec0b9 Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Sun, 19 May 2013 20:25:57 +0000
Subject: [PATCH] Fixed bug in Imu Bias Jacobian sizes

---
 gtsam/navigation/ImuBias.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index 3a2010c3b..352bb1918 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -72,7 +72,7 @@ namespace imuBias {
     /** Correct an accelerometer measurement using this bias model, and optionally compute Jacobians */
     Vector correctAccelerometer(const Vector3& measurment, boost::optional<Matrix&> H=boost::none) const {
       if (H){
-        H->resize(6,3);
+        H->resize(3,6);
         (*H) << -Matrix3::Identity(), Matrix3::Zero();
       }
       return measurment - biasAcc_;
@@ -81,7 +81,7 @@ namespace imuBias {
     /** Correct a gyroscope measurement using this bias model, and optionally compute Jacobians */
     Vector correctGyroscope(const Vector3& measurment, boost::optional<Matrix&> H=boost::none) const {
       if (H){
-        H->resize(6,3);
+        H->resize(3,6);
         (*H) << Matrix3::Zero(), -Matrix3::Identity();
       }
       return measurment - biasGyro_;