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Commit d40e6fe3 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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parent 069e2a46
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1 merge request!366Resolve "Complete state vector new data structure?"
Pipeline #5458 passed
This commit is part of merge request !366. Comments created here will be created in the context of that merge request.
......@@ -611,7 +611,7 @@ void ProcessorMotion::integrateOneStep()
jacobian_delta_);
// integrate Jacobian wrt calib
if ( hasCalibration() )
if ( hasCalibration() ) // if no calibration, matrices can have mismatching sizes, and this computation is nevertheless pointless
{
jacobian_calib_.noalias()
= jacobian_delta_preint_ * getBuffer().back().jacobian_calib_
......@@ -625,15 +625,15 @@ void ProcessorMotion::integrateOneStep()
// push all into buffer
getBuffer().emplace_back(incoming_ptr_->getTimeStamp(),
incoming_ptr_->getData(),
incoming_ptr_->getDataCovariance(),
delta_,
delta_cov_,
delta_integrated_,
delta_integrated_cov_,
jacobian_delta_,
jacobian_delta_preint_,
jacobian_calib_);
incoming_ptr_->getData(),
incoming_ptr_->getDataCovariance(),
delta_,
delta_cov_,
delta_integrated_,
delta_integrated_cov_,
jacobian_delta_,
jacobian_delta_preint_,
jacobian_calib_);
}
void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr)
......
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