From 1ad662e35b267dc13c67168e7bdb404945db492d Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 23 Nov 2014 12:39:23 +0100 Subject: [PATCH] Renamed static: interestingly, does not seem to be used anywhere... --- gtsam/navigation/AHRSFactor.cpp | 4 ++-- gtsam/navigation/AHRSFactor.h | 3 +-- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp index c77eb523e..343957546 100644 --- a/gtsam/navigation/AHRSFactor.cpp +++ b/gtsam/navigation/AHRSFactor.cpp @@ -119,7 +119,7 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement( Matrix3 H_angles_angles = Jrinv_theta_j * incrRt * Jr_theta_i; // analytic expression corresponding to the following numerical derivative // Matrix H_angles_angles = numericalDerivative11 - // (boost::bind(&PreIntegrateIMUObservations_delta_angles, correctedOmega, deltaT, _1), thetaij); + // (boost::bind(&DeltaAngles, correctedOmega, deltaT, _1), thetaij); // overall Jacobian wrpt preintegrated measurements (df/dx) const Matrix3& F = H_angles_angles; @@ -136,7 +136,7 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement( } //------------------------------------------------------------------------------ -Vector AHRSFactor::PreintegratedMeasurements::PreIntegrateIMUObservations_delta_angles( +Vector AHRSFactor::PreintegratedMeasurements::DeltaAngles( const Vector& msr_gyro_t, const double msr_dt, const Vector3& delta_angles) { diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index de70b1d45..86fff9742 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -99,8 +99,7 @@ public: // This function is only used for test purposes // (compare numerical derivatives wrt analytic ones) - static Vector PreIntegrateIMUObservations_delta_angles( - const Vector& msr_gyro_t, const double msr_dt, + static Vector DeltaAngles(const Vector& msr_gyro_t, const double msr_dt, const Vector3& delta_angles); private: