From 34a7ce0d0d263a01b4d2216c10e6909a76d055a6 Mon Sep 17 00:00:00 2001 From: Asa Hammond Date: Thu, 25 Feb 2021 18:35:29 -0800 Subject: [PATCH] rename some vars for consistency --- gtsam/navigation/NavState.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp index 0181ea45f..f21a2f660 100644 --- a/gtsam/navigation/NavState.cpp +++ b/gtsam/navigation/NavState.cpp @@ -136,12 +136,12 @@ Vector9 NavState::localCoordinates(const NavState& g, // OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const { Matrix3 D_dR_R, D_dt_R, D_dv_R; const Rot3 dR = R_.between(g.R_, H1 ? &D_dR_R : 0); - const Point3 dt = R_.unrotate(g.t_ - t_, H1 ? &D_dt_R : 0); - const Vector dv = R_.unrotate(g.v_ - v_, H1 ? &D_dv_R : 0); + const Point3 dP = R_.unrotate(g.t_ - t_, H1 ? &D_dt_R : 0); + const Vector dV = R_.unrotate(g.v_ - v_, H1 ? &D_dv_R : 0); Vector9 xi; Matrix3 D_xi_R; - xi << Rot3::Logmap(dR, (H1 || H2) ? &D_xi_R : 0), dt, dv; + xi << Rot3::Logmap(dR, (H1 || H2) ? &D_xi_R : 0), dP, dV; if (H1) { *H1 << D_xi_R * D_dR_R, Z_3x3, Z_3x3, // D_dt_R, -I_3x3, Z_3x3, //