From dae47f89b2daa1c126731f72bf9297087b2f5032 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=C3=A9d=C3=A9ric=20Fourmy?= <mfourmy@laas.fr>
Date: Tue, 15 Sep 2020 10:17:18 +0200
Subject: [PATCH] Fix consistency in ProcessorOdom3d constructor
---
src/processor/processor_odom_3d.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index d6f7e77a9..c7be4d48c 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -13,7 +13,11 @@ ProcessorOdom3d::ProcessorOdom3d(ParamsProcessorOdom3dPtr _params) :
min_disp_var_ (0.1), // around 10cm error
min_rot_var_ (0.1) // around 6 degrees error
{
- //
+ // Set constant parts of Jacobians
+ jacobian_delta_preint_.setIdentity(6,6);
+ jacobian_delta_.setIdentity(6,6);
+ jacobian_calib_.setZero(6,0);
+ unmeasured_perturbation_cov_ = pow(params_odom_3d_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix6d::Identity();
}
ProcessorOdom3d::~ProcessorOdom3d()
--
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