From 78dc2dca879e458ff16d65bd478398bce5d60774 Mon Sep 17 00:00:00 2001 From: Chris Choi Date: Wed, 28 Mar 2018 11:10:08 -0400 Subject: [PATCH] Fix smallAngleQuaternion() reference --- include/msckf_vio/math_utils.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/msckf_vio/math_utils.hpp b/include/msckf_vio/math_utils.hpp index 163761e..3000d4c 100644 --- a/include/msckf_vio/math_utils.hpp +++ b/include/msckf_vio/math_utils.hpp @@ -65,7 +65,7 @@ inline Eigen::Vector4d quaternionMultiplication( * full quaternion. * @note This function is useful to convert delta quaternion * which is usually a 3x1 vector to a full quaternion. - * For more details, check Equation (238) and (239) in + * For more details, check Section 3.2 "Kalman Filter Update" in * "Indirect Kalman Filter for 3D Attitude Estimation: * A Tutorial for quaternion Algebra". */