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欧拉法代码实现是不是有问题？ #16

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zhongtianda opened this issue Nov 14, 2022 · 0 comments
Open

欧拉法代码实现是不是有问题？ #16

zhongtianda opened this issue Nov 14, 2022 · 0 comments

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@zhongtianda
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imu.cpp第136行后面的欧拉法中，由k的测量值计算k+1时刻的位姿，137行 “MotionData imupose = imudata[i];” 应该是 “MotionData imupose = imudata[i-1];” 吧？不然从1开始的话（比如时间戳0.005），就是用该时刻的角速度和加速度计算该时刻的位姿了，和定义不符，从保存的数据也可以看出来。（后面保存的时间戳也要改）
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