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Merge pull request #29 from wavelab/master

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Fix smallAngleQuaternion() reference
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Ke Sun 2018-03-28 15:48:59 -04:00 committed by GitHub
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include/msckf_vio/math_utils.hpp
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@ -65,7 +65,7 @@ inline Eigen::Vector4d quaternionMultiplication(
* full quaternion. * full quaternion.
* @note This function is useful to convert delta quaternion * @note This function is useful to convert delta quaternion
* which is usually a 3x1 vector to a full 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: * "Indirect Kalman Filter for 3D Attitude Estimation:
* A Tutorial for quaternion Algebra". * A Tutorial for quaternion Algebra".
*/ */