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Commit 3cedd932 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Cosmetics

parent 5f7b14ae
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1 merge request!242Feature/proc motion
...@@ -408,11 +408,14 @@ void ProcessorMotion::integrateOneStep() ...@@ -408,11 +408,14 @@ void ProcessorMotion::integrateOneStep()
// integrate Jacobian wrt calib // integrate Jacobian wrt calib
if ( hasCalibration() ) 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 // Integrate covariance
delta_integrated_cov_ = jacobian_delta_preint_ * getBuffer().get().back().delta_integr_cov_ * jacobian_delta_preint_.transpose() delta_integrated_cov_.noalias()
+ jacobian_delta_ * delta_cov_ * jacobian_delta_.transpose(); = jacobian_delta_preint_ * getBuffer().get().back().delta_integr_cov_ * jacobian_delta_preint_.transpose()
+ jacobian_delta_ * delta_cov_ * jacobian_delta_.transpose();
// push all into buffer // push all into buffer
getBuffer().get().emplace_back(incoming_ptr_->getTimeStamp(), getBuffer().get().emplace_back(incoming_ptr_->getTimeStamp(),
......
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