Restructured Imu factors: added base classes and removed redundancy
Luca Carlone
Branch: feature/imuFixed
Branch: develop
Merged
Merged pull request
Merged in Luca's rename to ExpmapDerivative and LogMapDerivative from 'origin/feature/imuFixed'
Merged in Luca's rename to ExpmapDerivative and LogMapDerivative from 'origin/feature/imuFixed'
I did the following: - Added base classes for ImuFactors and CombinedImuFactors (PreintegrationBase, ImuFactorBase) - Deleted copy-pasted code and avoided redundancy - Fixed typos and inconsistency w.r.t. borg naming convention - Added comments
I'm pretty happy about the result. Please review the PR and let me know if everything works fine on your side (Note: "Predict" is now "predict" and "PreintMeasCov" is now "preintMeasCov").