Coordinate compiler flags

gtsam/navigation/AggregateImuReadings.h

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

gtsam/navigation/ScenarioRunner.cpp

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