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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
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oursland
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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
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Sep 8, 2025
| preintMatrix_ = preintMatrix_.compose(wExp); | ||
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| // Propagate covariance - from eq. (35) in the paper | ||
| // IMPORTANT: the covariance propagation is based on the Right-Invariant (RI) |
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Are these outdated now? I think you switched to LI?
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Stubs for @giuliodelama
@giuliodelama please continue to work on ths branch, but only
pushwhen you need review or want to run CI.