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Better document bearing-only measurement tangent #731

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dehann opened this issue Feb 29, 2024 · 1 comment
Open

Better document bearing-only measurement tangent #731

dehann opened this issue Feb 29, 2024 · 1 comment
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documentation factors
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dehann commented Feb 29, 2024

Why [2] in X[2] here:
@dehann dehann added this to the v0.0.x milestone Feb 29, 2024
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dehann commented Feb 29, 2024

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

[0 -a
a 0]

dehann added a commit that referenced this issue Feb 29, 2024
@dehann
Add docs on Bearing2D.jl
b6e374e 
closes:
- #731
@dehann dehann mentioned this issue Feb 29, 2024
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@dehann dehann added the factors label Feb 29, 2024
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