qusetion of F matrix
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wangshaojing0812 commented
KalmanFilter.hpp:157
Ft.block<3, 3>(GlobalState::vel_, GlobalState::gra_) = M3D::Identity();
the value of vel w.r.t gra in in pape is 0, why here is Identity?
the value of att w.r.t gra in in pape is -M3D::Identity(), why here is 0?