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| author | Martin Miller | 2017-03-20 11:57:09 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-20 11:57:09 -0500 |
| commit | 0f25fa35e063d3df3c652153b2d6f1b9f94ce82e (patch) | |
| tree | 9a8e77093c64a96e355756632ea9dd70c17c98b9 /src/feature.h | |
| parent | c51745a84d6240e68e6a429a8b9c80341a0198d7 (diff) | |
| download | refslam-0f25fa35e063d3df3c652153b2d6f1b9f94ce82e.zip refslam-0f25fa35e063d3df3c652153b2d6f1b9f94ce82e.tar.gz | |
Fix Jacobian of motion model.
This fixes a bug that was present in the pyslam code. The Jacobian of the motion
model needs to be replaced with:
F = I + F*dt
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/feature.h b/src/feature.h index f3a47fd..fc8fe2f 100644 --- a/src/feature.h +++ b/src/feature.h @@ -27,7 +27,7 @@ class Feature /* ==================== OPERATORS ======================================= */ Matrix<double,3,9> Fx(); - Matrix<double,3,3> Fy( const Vector3d &vel, const Vector3d &ang); + Matrix<double,3,3> Fy( const Vector3d &vel, const Vector3d &ang, double dt); Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q); Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q); Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q); |