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iron76 / bnt_time_varying

Maximum-a-posteriori dynamic estimation for linkwise dynamic quantities
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potential error in computation of MAP in solveID.m #17

Closed nunoguedelha closed 8 years ago

nunoguedelha commented 8 years ago

While going through the implementation of accelerations estimation in solveID.m, I found an apparent discrepancy between the expression of d (actually \mu_{d|y}) found in solveID.m Line 52, and the equations described in this wiki as we can see in the below screenshot : screen shot 2016-01-07 at 18 05 27

The term \Sigma_d^{-1} \mu_d is missing. @iron76 would this be the result of a simplification I missed?

iron76 commented 8 years ago

The reason is mu_d is assumed always zero.