From 0f25fa35e063d3df3c652153b2d6f1b9f94ce82e Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 20 Mar 2017 11:57:09 -0500
Subject: 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
---
 src/body.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index 5ceae0b..8c3dca3 100644
--- a/src/body.h
+++ b/src/body.h
@@ -29,7 +29,7 @@ class Body
         void vel(const Matrix<double,3,1> &v);
 
         /* ====================  OPERATORS     ======================================= */
-        Matrix<double,9,9> F(const Vector3d &ang, const Quaterniond &q);
+        Matrix<double,9,9> F(const Vector3d &ang, const Quaterniond &q, double dt);
         Matrix<double,1,9> H();
         Matrix<double,1,1> h();
         void motionModel ( const Vector3d &acc, const Vector3d &ang, 
-- 
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