From 51254fe225f3bfa903f0e97b3761b1a1232d0ccc Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Fri, 9 Dec 2016 10:37:50 +0100
Subject: [PATCH] correction
---
src/processor_imu_UnitTester.h | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/processor_imu_UnitTester.h b/src/processor_imu_UnitTester.h
index 9eb5abb67..769203e83 100644
--- a/src/processor_imu_UnitTester.h
+++ b/src/processor_imu_UnitTester.h
@@ -271,6 +271,7 @@ inline IMU_jac_deltas ProcessorIMU_UnitTester::finite_diff_noise(const Scalar& _
jacobian_delta_preint0 = jacobian_delta_preint;
jacobian_delta0 = jacobian_delta;
+ std::cout << "size test : delta_\n" << delta_ << std::endl;
//We compute all the jacobians wrt deltas and noisy deltas
for(int i=0; i<3; i++) //for 3 first and 3 last components we just add to add noise as vector component since it is in the R^3 space
{
@@ -281,7 +282,7 @@ inline IMU_jac_deltas ProcessorIMU_UnitTester::finite_diff_noise(const Scalar& _
delta_noisy_vect(i) = delta_;
delta_ = delta0;
- delta_(i+6) = delta_(i+6) + _delta_noise(i+6); //noise has been added
+ delta_(i+7) = delta_(i+7) + _delta_noise(i+6); //noise has been added
delta_noisy_vect(i+6) = delta_;
}
@@ -310,7 +311,7 @@ inline IMU_jac_deltas ProcessorIMU_UnitTester::finite_diff_noise(const Scalar& _
Delta_noisy_vect(i) = Delta_;
Delta_ = _Delta0;
- Delta_(i+6) = Delta_(i+6) + _Delta_noise(i+6); //noise has been added
+ Delta_(i+7) = Delta_(i+7) + _Delta_noise(i+6); //noise has been added
Delta_noisy_vect(i+6) = Delta_;
}
--
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