Remove initial cov from CombinedImuFactor#2199
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varunagrawal
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I have a feeling the formatter is off so I recommend looking into that, but also CI is failing?
lucacarlone
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Jul 27, 2025
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Thanks all! Merging now. |
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...with a notebook showing equivalence of this new version.
I will update the lyx file soon, as well, and include the pdf in the PR comment. Bottom line: the initial mechanism of providing an initial covariance to the CombinedImuFactor was misguided: this should be done by adding a prior to the first bias; the factor graph machinery will take care of the rest.
gtsam_gtsam_navigation_doc_Combined_vs_ImuFactor.ipynb at feature_nav_docs · borglab_gtsam.pdf
ImuFactor.pdf