GalileanFactor ! #2231
Draft
GalileanFactor ! #2231
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Documentation Simplify Force MODULE Fix back-slashes Upgrade cmake req Well-documented gemini solution Going in circles... Give gemini a chance yet another try More windows/boost fixes Yet another attempt Another attempt, aided by GPT-5 Try fixing boost on windows
dellaert
force-pushed
the
feature/GalileanImuFactor
branch
from
182580b to
02b578e
Compare
oursland
reviewed
Aug 27, 2025
| TEST_PIM(CombinedImuFactor, PreintegratedMeasurements) { | ||
| // Linearization point | ||
| Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases | ||
| Bias bias( |
- no IMU biases - preintegration covariance propagation is for RI error
dellaert
commented
Sep 8, 2025
| preintMatrix_ = preintMatrix_.compose(wExp); | ||
|
|
||
| // Propagate covariance - from eq. (35) in the paper | ||
| // IMPORTANT: the covariance propagation is based on the Right-Invariant (RI) |
There was a problem hiding this comment.
Are these outdated now? I think you switched to LI?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Stubs for @giuliodelama
@giuliodelama please continue to work on ths branch, but only
pushwhen you need review or want to run CI.