Acc/Gyro bias and Jacobians

[dannyway03]

Hi,

thanks for this nice project.
I might lack of expertise here, so sorry in advance about my questions.

Looking at the code, I see that you feed IMUPreintegrator::Update(..) function directly with data from imu csv file, without subtracting the bias for accelerometer and gyro, as state in the Update function API documentation.
Is this intended? or csv file already contains bias-free measurements? or...?

Also, what is the need of computing all the Jacobians when you never use them in the code?

br,
Danny