raphael/msckf_vio
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix smallAngleQuaternion() reference

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
include/msckf_vio/math_utils.hpp
View File

@ -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".
*/