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JuliaRobotics / RoME.jl

Robot Motion Estimate: Tools, Variables, and Factors for SLAM in robotics; also see Caesar.jl.
MIT License
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Better document bearing-only measurement tangent #731

Open dehann opened 6 months ago

dehann commented 6 months ago

Why [2] in X[2] here:

dehann commented 6 months ago

X[2] because we store measurement tangent as 2x2 matrix (Lie algebra, so(2)), so:

[0 -a
a 0]