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Corrected Bias key index in IMUKittiExampleGPS.m 

Bias key index in ImuFactor refers to the bias at the previous timestep, `bias_i`, according to https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/ImuFactor.h#L239-L244 and the C++ example https://github.com/borglab/gtsam/blob/develop/examples/ImuFactorsExample.cpp#L228
release/4.3a0
Thomas Jespersen 2020-02-24 10:41:04 +08:00 committed by GitHub
parent 09b0f03542
commit d8866f1497
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matlab/gtsam_examples/IMUKittiExampleGPS.m
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@ -99,7 +99,7 @@ for measurementIndex = firstGPSPose:length(GPS_data)
newFactors.add(ImuFactor( ...
currentPoseKey-1, currentVelKey-1, ...
currentPoseKey, currentVelKey, ...
currentBiasKey, currentSummarizedMeasurement));
currentBiasKey-1, currentSummarizedMeasurement));
% Bias evolution as given in the IMU metadata
newFactors.add(BetweenFactorConstantBias(currentBiasKey-1, currentBiasKey, imuBias.ConstantBias(zeros(3,1), zeros(3,1)), ...