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Fix printing of preintegration params #754

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Apr 24, 2021
Merged

Fix printing of preintegration params #754

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11 changes: 6 additions & 5 deletions gtsam/navigation/PreintegrationBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
* @author Vadim Indelman
* @author David Jensen
* @author Frank Dellaert
* @author Varun Agrawal
**/

#include "PreintegrationBase.h"
Expand All @@ -35,12 +36,12 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr<Params>& p,

//------------------------------------------------------------------------------
ostream& operator<<(ostream& os, const PreintegrationBase& pim) {
os << " deltaTij " << pim.deltaTij_ << endl;
os << " deltaTij = " << pim.deltaTij_ << endl;
os << " deltaRij.ypr = (" << pim.deltaRij().ypr().transpose() << ")" << endl;
os << " deltaPij " << Point3(pim.deltaPij()) << endl;
os << " deltaVij " << Point3(pim.deltaVij()) << endl;
os << " gyrobias " << Point3(pim.biasHat_.gyroscope()) << endl;
os << " acc_bias " << Point3(pim.biasHat_.accelerometer()) << endl;
os << " deltaPij = " << pim.deltaPij().transpose() << endl;
os << " deltaVij = " << pim.deltaVij().transpose() << endl;
os << " gyrobias = " << pim.biasHat_.gyroscope().transpose() << endl;
os << " acc_bias = " << pim.biasHat_.accelerometer().transpose() << endl;
return os;
}

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