From b8d19c9c559a12154690350f3dbf70fe6e1b0efa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 25 Aug 2019 12:41:07 +0200
Subject: [PATCH] Update processor_odom_3D.cpp
---
src/processor/processor_odom_3D.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/processor/processor_odom_3D.cpp b/src/processor/processor_odom_3D.cpp
index 4cb3ad75e..5f1610c94 100644
--- a/src/processor/processor_odom_3D.cpp
+++ b/src/processor/processor_odom_3D.cpp
@@ -114,16 +114,16 @@ void ProcessorOdom3D::deltaPlusDelta(const Eigen::VectorXs& _delta1, const Eigen
*/
// temporaries
- Eigen::Matrix3s DR = dq1.matrix();
- Eigen::Matrix3s dR = dq2.matrix();
+ Eigen::Matrix3s dR1 = dq1.matrix();
+ Eigen::Matrix3s dR2 = dq2.matrix();
// fill Jacobians
_jacobian1.setIdentity();
- _jacobian1.block<3, 3>(0, 3) = -DR * skew(dp2); // (Sola 16, ex. B.3.2 and Sec. 7.2.3)
- _jacobian1.block<3, 3>(3, 3) = dR.transpose(); // (Sola 16, Sec. 7.2.3)
+ _jacobian1.block<3, 3>(0, 3) = -dR1 * skew(dp2); // (Sola 16, ex. B.3.2 and Sec. 7.2.3)
+ _jacobian1.block<3, 3>(3, 3) = dR2.transpose(); // (Sola 16, Sec. 7.2.3)
_jacobian2.setIdentity();
- _jacobian2.block<3, 3>(0, 0) = DR; // (Sola 16, Sec. 7.2.3)
+ _jacobian2.block<3, 3>(0, 0) = dR1; // (Sola 16, Sec. 7.2.3)
// perform composition here to avoid aliasing problems if _delta1 and _delta_plus_delta share the same storage
dp_out = dp1 + dq1 * dp2;
--
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