From 2fb93dbdfb53783b775f73da6f127040776f8a4f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 13 Jan 2023 10:15:40 -0500 Subject: [PATCH] remove biasAccOmegaInit default reset --- gtsam/navigation/CombinedImuFactor.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp index 142faedd3..e5ce5a711 100644 --- a/gtsam/navigation/CombinedImuFactor.cpp +++ b/gtsam/navigation/CombinedImuFactor.cpp @@ -74,9 +74,6 @@ bool PreintegratedCombinedMeasurements::equals( void PreintegratedCombinedMeasurements::resetIntegration() { // Base class method to reset the preintegrated measurements PreintegrationType::resetIntegration(); - // Set the initial bias covariance to - // the estimated covariance from the last step. - p().biasAccOmegaInt = preintMeasCov_.block<6, 6>(9, 9); preintMeasCov_.setZero(); }