12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Coordinate compiler flags

release/4.3a0
Frank Dellaert 2016-01-16 18:25:01 -08:00
parent 21a63d8d0e
commit 236a69609c
2 changed files with 5 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam/navigation/AggregateImuReadings.h
View File

@ -20,6 +20,8 @@
#include <gtsam/navigation/ImuFactor.h> #include <gtsam/navigation/ImuFactor.h>
#include <gtsam/linear/NoiseModel.h> #include <gtsam/linear/NoiseModel.h>
#define LOCALCOORDINATES_ONLY
namespace gtsam { namespace gtsam {
/** /**
@ -79,8 +81,8 @@ class AggregateImuReadings {
const Vector3& correctedOmega, double dt, const Vector3& correctedOmega, double dt,
bool useExactDexpDerivative = false, bool useExactDexpDerivative = false,
OptionalJacobian<9, 9> A = boost::none, OptionalJacobian<9, 9> A = boost::none,
OptionalJacobian<9, 3> Ba = boost::none, OptionalJacobian<9, 3> B = boost::none,
OptionalJacobian<9, 3> Bw = boost::none); OptionalJacobian<9, 3> C = boost::none);
}; };
} // namespace gtsam } // namespace gtsam

2
gtsam/navigation/ScenarioRunner.cpp
View File

@ -65,7 +65,7 @@ Matrix9 ScenarioRunner::estimateCovariance(double T, size_t N,
Vector9 sum = Vector9::Zero(); Vector9 sum = Vector9::Zero();
for (size_t i = 0; i < N; i++) { for (size_t i = 0; i < N; i++) {
auto pim = integrate(T, estimatedBias, true); auto pim = integrate(T, estimatedBias, true);
#if 1 #ifndef LOCALCOORDINATES_ONLY
NavState sampled = predict(pim); NavState sampled = predict(pim);
Vector9 xi = sampled.localCoordinates(prediction); Vector9 xi = sampled.localCoordinates(prediction);
#else #else