From 1744eaf599d5c05a4ddf9edff712dfc1cd8fcc30 Mon Sep 17 00:00:00 2001 From: HMellor Date: Fri, 28 May 2021 21:00:34 +0100 Subject: [PATCH] Correct ImuFactorExamples frame description --- examples/CombinedImuFactorsExample.cpp | 3 ++- examples/ImuFactorsExample.cpp | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/examples/CombinedImuFactorsExample.cpp b/examples/CombinedImuFactorsExample.cpp index c9646e64d4..9211a4d5f0 100644 --- a/examples/CombinedImuFactorsExample.cpp +++ b/examples/CombinedImuFactorsExample.cpp @@ -23,7 +23,8 @@ * A row starting with "i" is the first initial position formatted with * N, E, D, qx, qY, qZ, qW, velN, velE, velD * A row starting with "0" is an imu measurement - * linAccN, linAccE, linAccD, angVelN, angVelE, angVelD + * (body frame - Forward, Right, Down) + * linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX * A row starting with "1" is a gps correction formatted with * N, E, D, qX, qY, qZ, qW * Note that for GPS correction, we're only using the position not the diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp index 793927d7e5..38ee4c7c76 100644 --- a/examples/ImuFactorsExample.cpp +++ b/examples/ImuFactorsExample.cpp @@ -25,7 +25,8 @@ * A row starting with "i" is the first initial position formatted with * N, E, D, qx, qY, qZ, qW, velN, velE, velD * A row starting with "0" is an imu measurement - * linAccN, linAccE, linAccD, angVelN, angVelE, angVelD + * (body frame - Forward, Right, Down) + * linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX * A row starting with "1" is a gps correction formatted with * N, E, D, qX, qY, qZ, qW * Note that for GPS correction, we're only using the position not the