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Fix smallAngleQuaternion() reference

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This commit is contained in:
Chris Choi
2018-03-28 11:10:08 -04:00
parent ceb0919106
commit 78dc2dca87
1 changed files with 1 additions and 1 deletions
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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".
*/ */