From 7681f10f528bcedf2a26ea16fb0d29a784ab451c Mon Sep 17 00:00:00 2001
From: asanjuan <asanjuan@iri.upc.edu>
Date: Tue, 2 Aug 2022 09:32:32 +0200
Subject: [PATCH] Add initialized jacobian in processor motion
---
src/processor/processor_motion.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 682b02f65..5f4d77d4c 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -66,11 +66,13 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
calib_preint_(_calib_size),
jacobian_delta_preint_(delta_cov_size_, delta_cov_size_),
jacobian_delta_(delta_cov_size_, delta_cov_size_),
- jacobian_calib_(delta_cov_size_, calib_size_)
+ jacobian_calib_(delta_cov_size_, calib_size_),
+ jacobian_delta_calib_(delta_cov_size_, calib_size_)
{
jacobian_delta_preint_ .setIdentity(delta_cov_size_,delta_cov_size_); // dDp'/dDp, dDv'/dDv, all zeros
jacobian_delta_ .setIdentity(delta_cov_size_,delta_cov_size_); //
jacobian_calib_ .setZero(delta_cov_size_,calib_size_);
+ jacobian_delta_calib_ .setZero(delta_cov_size_,calib_size_);
unmeasured_perturbation_cov_ =
params_motion_->unmeasured_perturbation_std
* params_motion_->unmeasured_perturbation_std
--
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