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Commit ebf7866c authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Use original error method

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src/constraint_imu.h
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...@@ -270,7 +270,7 @@ inline bool ConstraintIMU::residual(const Eigen::MatrixBase<D1> & _p1, ...@@ -270,7 +270,7 @@ inline bool ConstraintIMU::residual(const Eigen::MatrixBase<D1> & _p1,
* *
* NOTE: See optimization report at the end of this file for comparisons of both methods. * NOTE: See optimization report at the end of this file for comparisons of both methods.
*/ */
//#define METHOD_1 // if commented, then METHOD_2 will be applied #define METHOD_1 // if commented, then METHOD_2 will be applied
//needed typedefs //needed typedefs
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