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[Fix] Correct scale factor in rotation propagation (use scalar_type(0.5)) #28

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[Fix] Correct scale factor in rotation propagation (use scalar_type(0.5)) #28

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4 changes: 2 additions & 2 deletions include/IKFoM_toolkit/esekfom/esekfom.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -309,7 +309,7 @@ class esekf{
seg_SO3(i) = -1 * f_(dim + i) * dt;
}
MTK::SO3<scalar_type> res;
res.w() = MTK::exp<scalar_type, 3>(res.vec(), seg_SO3, scalar_type(1/2));
res.w() = MTK::exp<scalar_type, 3>(res.vec(), seg_SO3, scalar_type(0.5));
#ifdef USE_sparse
res_temp_SO3 = res.toRotationMatrix();
for(int i = 0; i < 3; i++){
Expand Down Expand Up @@ -341,7 +341,7 @@ class esekf{
}
MTK::vect<2, scalar_type> vec = MTK::vect<2, scalar_type>::Zero();
MTK::SO3<scalar_type> res;
res.w() = MTK::exp<scalar_type, 3>(res.vec(), seg_S2, scalar_type(1/2));
res.w() = MTK::exp<scalar_type, 3>(res.vec(), seg_S2, scalar_type(0.5));
Eigen::Matrix<scalar_type, 2, 3> Nx;
Eigen::Matrix<scalar_type, 3, 2> Mx;
x_.S2_Nx_yy(Nx, idx);
Expand Down