Resolve "Rationalize constructors of ProcMotion and derived"

Closes #434 (closed)

src/processor/processor_motion.cpp

@@ -67,7 +67,13 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
         jacobian_delta_(delta_cov_size_, delta_cov_size_),
         jacobian_calib_(delta_cov_size_, calib_size_)
 {   
-    //
+    jacobian_delta_preint_          .setIdentity(delta_cov_size_,delta_cov_size_);                                    // dDp'/dDp, dDv'/dDv, all zeros
+    jacobian_delta_                 .setIdentity(delta_cov_size_,delta_cov_size_);                                           //
+    jacobian_calib_                 .setZero(delta_cov_size_,calib_size_);
+    unmeasured_perturbation_cov_ =
+              params_motion_->unmeasured_perturbation_std
+            * params_motion_->unmeasured_perturbation_std
+            * MatrixXd::Identity(delta_cov_size_, delta_cov_size_);
 }
 
 ProcessorMotion::~ProcessorMotion()