Closed jlblancoc closed 8 years ago
For the ECP with submaps: When the observing or base KF are "central KF", the "-2" in the formula for minimum distance to close a loop should be changed. Fix it.
@famoreno : This is fixed now! ;-)
For the ECP with submaps: When the observing or base KF are "central KF", the "-2" in the formula for minimum distance to close a loop should be changed. Fix it.