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Commit 0cde012d authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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correct jacobians initialization in constructors

parent 99577cc4
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......@@ -13,8 +13,8 @@ FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen:
FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance),
dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.tail<3>()), dq_preint_(_delta_preintegrated.segment<4>(3)),
acc_bias_preint_(_acc_bias), gyro_bias_preint_(_gyro_bias),
dDp_dab_(_dD_db_jacobians.block(3,3,0,0)), dDv_dab_(_dD_db_jacobians.block(3,3,6,0)),
dDp_dwb_(_dD_db_jacobians.block(3,3,0,3)), dDv_dwb_(_dD_db_jacobians.block(3,3,6,3)), dDq_dwb_(_dD_db_jacobians.block(3,3,3,3))
dDp_dab_(_dD_db_jacobians.block(0,0,3,3)), dDv_dab_(_dD_db_jacobians.block(6,0,3,3)),
dDp_dwb_(_dD_db_jacobians.block(0,3,3,3)), dDv_dwb_(_dD_db_jacobians.block(6,3,3,3)), dDq_dwb_(_dD_db_jacobians.block(3,3,3,3))
{
//std::cout << "New FeatureIMU: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl;
}
......@@ -33,10 +33,10 @@ FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance)
acc_bias_preint_ = std::static_pointer_cast<wolf::FrameIMU>(_cap_imu_ptr->getFramePtr())->getAccBiasPtr()->getVector();
gyro_bias_preint_ = std::static_pointer_cast<wolf::FrameIMU>(_cap_imu_ptr->getFramePtr())->getGyroBiasPtr()->getVector();
dDp_dab_ = _dD_db_jacobians.block(3,3,0,0);
dDv_dab_ = _dD_db_jacobians.block(3,3,6,0);
dDp_dwb_ = _dD_db_jacobians.block(3,3,0,3);
dDv_dwb_ = _dD_db_jacobians.block(3,3,6,3);
dDp_dab_ = _dD_db_jacobians.block(0,0,3,3);
dDv_dab_ = _dD_db_jacobians.block(6,0,3,3);
dDp_dwb_ = _dD_db_jacobians.block(0,3,3,3);
dDv_dwb_ = _dD_db_jacobians.block(6,3,3,3);
dDq_dwb_ = _dD_db_jacobians.block(3,3,3,3);
}
......
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