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| author | Martin Miller | 2017-04-06 14:42:25 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-06 14:42:25 -0500 |
| commit | 50f7b829a9848aae7236f69a90f7db5d9af19f22 (patch) | |
| tree | 32fdd162deeb92877dcdac2e837de5a32cbc4e95 /src/body.cpp | |
| parent | fe4ed819b186d56c7c66e196c4717ddc4ab99415 (diff) | |
| download | refslam-50f7b829a9848aae7236f69a90f7db5d9af19f22.zip refslam-50f7b829a9848aae7236f69a90f7db5d9af19f22.tar.gz | |
process noise
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/body.cpp b/src/body.cpp index a94c8a2..edf2047 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -140,7 +140,7 @@ Body::Q (double dt) Q.block<3,3>(10,3) = dt*dt*(ACC_STD*ACC_BIAS_STD-0.5*ACC_BIAS_STD*ACC_BIAS_STD)*Matrix3d::Identity(); // Qqq - Q.block<4,4>(6,6) = 0.25*dt*dt*IMU_NOISE*Matrix<double,4,4>::Identity(); + Q.block<4,4>(6,6) = 0.25*dt*dt*ANG_STD*ANG_STD*Matrix<double,4,4>::Identity(); #else // Qbb Q.block<3,3>(6,6) = dt*dt*ACC_BIAS_STD*ACC_BIAS_STD*Matrix<double,3,3>::Identity(); |