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/feature.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/feature.h')

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);
-- 
cgit v1.1