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imu initialization question #12

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lturing opened this issue Jul 22, 2023 · 0 comments

lturing commented Jul 22, 2023

firstly, thanks for this great work!
recently, i read imu initialized codes, i find some questions
likes here, take an example

A.block<3, 3>(i * 6, 0) = -0.5 * delta.t * delta.t * matrix<3>::Identity();
i think it should be

A.block<3, 3>(i * 6, 0) += -0.5 * delta.t * delta.t * matrix<3>::Identity();
do i miss some parts?

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