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Could there be a bug in fusion.c?

Question asked by V Lam on Aug 26, 2015
Latest reply on Aug 28, 2015 by V Lam

Hello,

 

The following is line 1386 in function fRun_9DOF_GBY_KALMAN() in fusion.c.

 

    fmatrixAeqInvA(pfRows, iColInd, iRowInd, iPivot, 3);

 

That line is supposed to compute the inverse of the 6x6 matrix, P+, however, the size passed to it is 3. Is that supposed to be 6 instead?

 

Regards,

Vinh

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