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Commit f48070b0 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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initialize delta vectors in featureIMU

parent 5b26f055
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......@@ -3,7 +3,8 @@
namespace wolf {
FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen::MatrixXs& _delta_preintegrated_covariance) :
FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance)
FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance),
dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.segment<3>(7)), dq_preint_(_delta_preintegrated.segment<4>(3))
{
//std::cout << "New FeatureIMU: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl;
}
......
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