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 :
The term \Sigma_d^{-1} \mu_d is missing. @iron76 would this be the result of a simplification I missed?
While going through the implementation of accelerations estimation in![screen shot 2016-01-07 at 18 05 27](https://cloud.githubusercontent.com/assets/6848872/12176807/7e430a56-b569-11e5-898a-bb2d25484bb6.png)
solveID.m
, I found an apparent discrepancy between the expression ofd
(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 :The term
\Sigma_d^{-1} \mu_d
is missing. @iron76 would this be the result of a simplification I missed?