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Odometry covariance computation bug? #17

@peci1

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@peci1

Thanks for the covariance computations at https://github.com/Sollimann/CleanIt/blob/main/autonomy/src/slam/README.md !

However, in the definition of $F_p = \frac{\delta f}{\delta x, \delta y, \delta\theta}$, it seems to me the equation for $\frac{\delta f}{\delta\theta}$ should have $\Delta s$ in absolute values (on both first and second row). I can't figure out mathematically why it should be so, but practically, if I use the signed $\Delta s$, the covariance decreases when the robot reverses, which is probably not what you want.

Do you also observe this behavior?

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