FeatureIMU correct dv_preint initialization

src/feature_imu.cpp

@@ -4,14 +4,14 @@ namespace wolf {
 
 FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen::MatrixXs& _delta_preintegrated_covariance) :
     FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance),
-    dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.segment<3>(7)), dq_preint_(_delta_preintegrated.segment<4>(3))
+    dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.tail<3>()), dq_preint_(_delta_preintegrated.segment<4>(3))
 {
     //std::cout << "New FeatureIMU: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl;
 }
 
 FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen::MatrixXs& _delta_preintegrated_covariance, const Eigen::Vector3s& _acc_bias, const Eigen::Vector3s& _gyro_bias, const Eigen::Matrix<wolf::Scalar,9,6>& _dD_db_jacobians) :
     FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance),
-    dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.segment<3>(7)), dq_preint_(_delta_preintegrated.segment<4>(3)),
+    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))
@@ -27,7 +27,7 @@ FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance)
     this->setCapturePtr(_cap_imu_ptr);
     //TODO : we should make sure here that there is a frame in the capture
     dp_preint_ = _delta_preintegrated.head<3>();
-    dv_preint_ = _delta_preintegrated.segment<3>(7);
+    dv_preint_ = _delta_preintegrated.tail<3>();
     dq_preint_ = _delta_preintegrated.segment<4>(3);
 
     acc_bias_preint_ = std::static_pointer_cast<wolf::FrameIMU>(_cap_imu_ptr->getFramePtr())->getAccBiasPtr()->getVector();