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Fix some bugs in IMU preintegration and SO3 exp #17

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contagon merged 2 commits into master from easton/imu-preint-bugs

Nov 14, 2024

Collaborator

contagon commented Nov 14, 2024

Fix a handful of bugs with IMU preintegration

Fix forward prop Jacobians breaking in SO3 when taking the norm (derivative of sqrt not defined at 0)
Fix wrong generic in ImuPreintegrationResidual (thanks @dwuertz!)
Add test to make sure ImuPreintegrationResidual optimizes properly

contagon added 2 commits

November 14, 2024 13:03


          Fix some bugs in IMU preintegration and SO3 exp

693ff77


          Finalize SO3 fixes

4b3e17f

contagon merged commit 5ddd33b into master

1 check passed

contagon deleted the easton/imu-preint-bugs branch

December 7, 2024 03:49

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