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| author | Miller | 2017-07-07 04:34:34 -0500 |
|---|---|---|
| committer | Miller | 2017-07-07 04:34:34 -0500 |
| commit | 8d73fd6f27ff524be88c2a2e06a67e22f47d28b9 (patch) | |
| tree | ad3404d79e3325257b5dd807fbdded472c60d92d /src/state.cpp | |
| parent | c43500dc7b87fdd852da23f4578c939c5f175a59 (diff) | |
| download | refslam-8d73fd6f27ff524be88c2a2e06a67e22f47d28b9.zip refslam-8d73fd6f27ff524be88c2a2e06a67e22f47d28b9.tar.gz | |
fix param and P0 bugs
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/state.cpp b/src/state.cpp index 8b1ff3f..b521eff 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -21,7 +21,7 @@ State::State ( ) { body = new Body; P = Matrix<double,Dynamic,Dynamic>::Zero(STATESIZE,STATESIZE); - P.block<3,3>(6,6) = covbias*Matrix3d::Identity(); + P.block<3,3>(STATESIZE-3,STATESIZE-3) = covbias*Matrix3d::Identity(); return ; } /* ----- end of method State::State ----- */ |