From ad705126a9cfa65789dabecb857e662269bf60cd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Thu, 7 Feb 2019 16:02:44 +0100 Subject: [PATCH] Small doc fix --- src/processor_odom_2D.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/processor_odom_2D.cpp b/src/processor_odom_2D.cpp index 19818dffc..5041ae985 100644 --- a/src/processor_odom_2D.cpp +++ b/src/processor_odom_2D.cpp @@ -21,7 +21,7 @@ void ProcessorOdom2D::computeCurrentDelta(const Eigen::VectorXs& _data, const Ei assert(_data_cov.rows() == data_size_ && "Wrong _data_cov size"); assert(_data_cov.cols() == data_size_ && "Wrong _data_cov size"); - // data is [dtheta, dr] + // data is [dr, dtheta] // delta is [dx, dy, dtheta] // motion model is 1/2 turn + straight + 1/2 turn _delta(0) = cos(_data(1) / 2) * _data(0); -- GitLab