From d8866f14974c223edb3caac585bf7055d8ffd9c4 Mon Sep 17 00:00:00 2001
From: Thomas Jespersen <tkjmail@gmail.com>
Date: Mon, 24 Feb 2020 10:41:04 +0800
Subject: [PATCH] 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
---
 matlab/gtsam_examples/IMUKittiExampleGPS.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/matlab/gtsam_examples/IMUKittiExampleGPS.m b/matlab/gtsam_examples/IMUKittiExampleGPS.m
index c80b6ec3e..530c3382c 100755
--- a/matlab/gtsam_examples/IMUKittiExampleGPS.m
+++ b/matlab/gtsam_examples/IMUKittiExampleGPS.m
@@ -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)), ...