Fixed possibly uninitialized warnings in ImuFactorExample2.cpp
parent
7b1bd997f4
commit
e58ba2d2af
|
@ -108,9 +108,9 @@ int main(int argc, char* argv[]) {
|
|||
initialEstimate.insert(biasKey, imuBias::ConstantBias());
|
||||
}
|
||||
// Predict acceleration and gyro measurements in (actual) body frame
|
||||
auto measuredAcc = scenario.acceleration_b(t) -
|
||||
scenario.rotation(t).transpose() * params->n_gravity;
|
||||
auto measuredOmega = scenario.omega_b(t);
|
||||
Vector3 measuredAcc = scenario.acceleration_b(t) -
|
||||
scenario.rotation(t).transpose() * params->n_gravity;
|
||||
Vector3 measuredOmega = scenario.omega_b(t);
|
||||
accum.integrateMeasurement(measuredAcc, measuredOmega, delta_t);
|
||||
|
||||
// Add Imu Factor
|
||||
|
|
Loading…
Reference in New Issue