Merge branch 'devel' of...

Merge branch 'devel' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf into devel

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