From 3cedd9329ac5026a3cbafcca2a4bfa0af4c38c91 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Wed, 6 Feb 2019 10:48:28 +0100 Subject: [PATCH] Cosmetics --- src/processor_motion.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp index d9594cd75..7f18bcd06 100644 --- a/src/processor_motion.cpp +++ b/src/processor_motion.cpp @@ -408,11 +408,14 @@ void ProcessorMotion::integrateOneStep() // integrate Jacobian wrt calib if ( hasCalibration() ) - jacobian_calib_ = jacobian_delta_preint_ * getBuffer().get().back().jacobian_calib_ + jacobian_delta_ * jacobian_delta_calib_; + jacobian_calib_.noalias() + = jacobian_delta_preint_ * getBuffer().get().back().jacobian_calib_ + + jacobian_delta_ * jacobian_delta_calib_; // Integrate covariance - delta_integrated_cov_ = jacobian_delta_preint_ * getBuffer().get().back().delta_integr_cov_ * jacobian_delta_preint_.transpose() - + jacobian_delta_ * delta_cov_ * jacobian_delta_.transpose(); + delta_integrated_cov_.noalias() + = jacobian_delta_preint_ * getBuffer().get().back().delta_integr_cov_ * jacobian_delta_preint_.transpose() + + jacobian_delta_ * delta_cov_ * jacobian_delta_.transpose(); // push all into buffer getBuffer().get().emplace_back(incoming_ptr_->getTimeStamp(), -- GitLab