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![屏幕截图 2023-07-19 140833](https://github.com/rpng/open_vins/assets/52013331/9d39ae86-27fd-47c2-9e3b-07f4858eb4ba)
Hi there, I am reading the docs about ZUPT derivation from OpenVINS website and I h…
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### User story:
- User must be able to use all of the existing functionality with GGN (Generalised Gauss-Newton approximation)
### Subtasks:
- [x] Compute GGN approximation using Jacobians
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The operational MinMon package occasionally detects and reports problematic GFS v16 GSI minimizations. One such case was the operational 2021041718 gfs cycle (**prod curve** in figure below). Inve…
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To code new dynamic models (such as RC network) it is not very straightforward to calculate and write all the matrices A, B, C, D and their derivatives respecting to the different parameters (dA, dB).…
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Hey, I am trying to use the CustomFactor class in Python, but I keep running into issues. I have looked at 1 or 2 examples, and they have helped a little, but I am still having trouble.
```
Ru…
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The PR Cantera/cantera#1089 introduces the capability to calculate derivatives of reaction rate expressions. As noted there:
> The Jacobian implemented in this PR is strictly for the source term; i…
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Hi, buddy, excellent work! Would you share the process of the derivation of the derivatives of the slerped quaternions with reference to the begin and end rotation?
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First of all, thanks for your work. However I have met some problem.
ros bag which record imu topic is [imu.bag](https://drive.google.com/file/d/1xVBIqk1f_WOZPTQW5X3ebYnwSGI7cPfp/view?usp=sharing)
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If we have some function f, which we want to take the jacobian of with respect to the rows of an array x,
```
x = jnp.array([1000,3])
test_jac_op = cola.ops.partial(cola.ops.Jacobian, f)
```
this…