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remove biasAccOmegaInit default reset

release/4.3a0
Varun Agrawal 2023-01-13 10:15:40 -05:00
parent 3006a76444
commit 2fb93dbdfb
1 changed files with 0 additions and 3 deletions
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3
gtsam/navigation/CombinedImuFactor.cpp
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@ -74,9 +74,6 @@ bool PreintegratedCombinedMeasurements::equals(
void PreintegratedCombinedMeasurements::resetIntegration() { void PreintegratedCombinedMeasurements::resetIntegration() {
// Base class method to reset the preintegrated measurements // Base class method to reset the preintegrated measurements
PreintegrationType::resetIntegration(); 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(); preintMeasCov_.setZero();
} }