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| author | Martin Miller | 2017-03-18 12:13:00 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-18 12:13:00 -0500 |
| commit | aeadc3d4f2a9a7a626a6c44f0bd0a0892c7a8251 (patch) | |
| tree | 39a91e6fd1dbdc46145b73f3a1bd0fd8f851220f /src/body.cpp | |
| parent | 6e0de4f0d4fac653dde826712e81cee95b470195 (diff) | |
| download | refslam-aeadc3d4f2a9a7a626a6c44f0bd0a0892c7a8251.zip refslam-aeadc3d4f2a9a7a626a6c44f0bd0a0892c7a8251.tar.gz | |
Adjusted coordinate frame to NED and FRD.
The new coordinates frame for the world and the body correspond to
Junho's code and work well in other versions of this code.
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 b9ea683..daf4e69 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -23,7 +23,7 @@ Body::motionModel ( Matrix<double,9,1> &X, const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt) { Vector3d bias(X.segment(6,3)); - Vector3d gravity_world(0.,0.,-9.80655); + Vector3d gravity_world(0.,0.,9.80655); Matrix<double,6,3> A; Matrix<double,6,1> b; |