From e621b2eb1847aa66c857a16c2046421512fffcc2 Mon Sep 17 00:00:00 2001 From: Andrea Nistico Date: Fri, 24 Apr 2015 17:03:05 +0200 Subject: code style fix --- src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/attitude_estimator_ekf') diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 68780d5dd..3faf63a27 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -466,7 +466,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) math::Vector<3> v(1.0f, 0.0f, 0.4f); math::Vector<3> vn = Rvis.transposed() * v; //Rvis is Rwr (robot respect to world) while v is respect to world. Hence Rvis must be transposed having (Rwr)' * Vw - // Rrw * Vw = vn. This way we have consistency + // Rrw * Vw = vn. This way we have consistency z_k[6] = vn(0); z_k[7] = vn(1); z_k[8] = vn(2); -- cgit v1.2.3