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Fixed two bugs

release/4.3a0
Frank Dellaert 2015-12-28 17:19:33 -08:00
parent 52397bb4a4
commit 9eed146612
1 changed files with 2 additions and 2 deletions
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4
gtsam/navigation/ScenarioRunner.cpp
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@ -88,7 +88,7 @@ PreintegratedMeasurements2::integrateCorrected(const Vector3& correctedAcc,
// estimate current estimate from posterior
// TODO(frank): maybe we should store this - or only recover theta = inv(R)*d
Vector9 zeta = currentEstimate();
Vector3 theta_k = zeta.tail<3>();
Vector3 theta_k = zeta.head<3>();
cout << "zeta: " << zeta.transpose() << endl;
Rot3 Rk = Rot3::Expmap(theta_k);
Matrix3 Rkt = Rk.transpose();
@ -170,7 +170,7 @@ NavState PreintegratedMeasurements2::predict(
cout << "tij: " << deltaTij_ << endl;
cout << "gt: " << gt.transpose() << endl;
cout << "gt^2/2: " << 0.5 * deltaTij_* gt.transpose() << endl;
return state_i.expmap(zeta);
return state_i.retract(zeta);
}
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