From ed4f2deccfeab5621fa9910bd97df0e37d4f7374 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 7 Mar 2018 22:53:24 +0100
Subject: [PATCH] Rename Jacobian
---
src/test/gtest_IMU.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp
index a656fdcd1..80969eaac 100644
--- a/src/test/gtest_IMU.cpp
+++ b/src/test/gtest_IMU.cpp
@@ -124,7 +124,7 @@ class Process_Constraint_IMU : public testing::Test
* Delta: the preintegrated delta
* J_D_b_ptr: a pointer to the Jacobian of Delta wrt bias. Defaults to nullptr.
*/
- static void integrateOneStep(const VectorXs& motion, const VectorXs& bias_real, const VectorXs& bias_preint, Scalar dt, Quaternions& q_real, VectorXs& Delta, Matrix<Scalar, 9, 6>* J_D_d_ptr = nullptr)
+ static void integrateOneStep(const VectorXs& motion, const VectorXs& bias_real, const VectorXs& bias_preint, Scalar dt, Quaternions& q_real, VectorXs& Delta, Matrix<Scalar, 9, 6>* J_D_b_ptr = nullptr)
{
VectorXs delta(10), data(6);
VectorXs Delta_plus(10);
@@ -134,7 +134,7 @@ class Process_Constraint_IMU : public testing::Test
data = imu::motion2data(motion, q_real, bias_real);
q_real = q_real*exp_q(motion.tail(3)*dt);
Vector6s body = data - bias_preint;
- if (J_D_d_ptr == nullptr)
+ if (J_D_b_ptr == nullptr)
{
delta = imu::body2delta(body, dt);
Delta_plus = imu::compose(Delta, delta, dt);
@@ -143,10 +143,10 @@ class Process_Constraint_IMU : public testing::Test
{
imu::body2delta(body, dt, delta, J_d_d);
imu::compose(Delta, delta, dt, Delta_plus, J_D_D, J_D_d);
- J_D_b = *J_D_d_ptr;
+ J_D_b = *J_D_b_ptr;
J_d_b = - J_d_d;
J_D_b = J_D_D*J_D_b + J_D_d*J_d_b;
- *J_D_d_ptr = J_D_b;
+ *J_D_b_ptr = J_D_b;
}
Delta = Delta_plus;
}
--
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