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| author | Martin Miller | 2017-04-04 16:10:26 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-04 16:10:26 -0500 |
| commit | 2c0ce68acd031b67fdffaea3b2e50cca4f487633 (patch) | |
| tree | cbaeca5d911fefaca0468c6aa469a5bfc7cf0c6d /src/feature.cpp | |
| parent | 0c8912c5dc1ec3c752f8648ca2a8181275ba2654 (diff) | |
| download | refslam-2c0ce68acd031b67fdffaea3b2e50cca4f487633.zip refslam-2c0ce68acd031b67fdffaea3b2e50cca4f487633.tar.gz | |
Full state mostly implemented.
STATESIZE 9 works just as it does for experiment04032017 tag. The
quaternion covariance is not being set correctly yet.
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index 9c6bf84..85396e3 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -350,7 +350,7 @@ Feature::Fx ( double dt ) y2 = X[2]; Matrix<double,3,STATESIZE> F; F = Matrix<double,3,STATESIZE>::Zero(); - F.block<3,3>(0,3) << y0*y2,-y2, + F.block<3,3>(0,3) << y0*y2,-y2, 0., y1*y2, 0.,-y2, y2*y2, 0, 0; F *= dt; |