Merge pull request #2380 from borglab/fix/pseudorange-factor

dellaert · web-flow · commit d23848e39b84 · 2026-02-01T19:05:39.000-05:00
Fix Eigen issue in PseudorangeFactor
diff --git a/gtsam/navigation/PseudorangeFactor.cpp b/gtsam/navigation/PseudorangeFactor.cpp
@@ -70,7 +70,7 @@ Vector PseudorangeFactor::evaluateError(
   }
 
   if (Hreceiver_clock_bias) {
-    *Hreceiver_clock_bias = Matrix11(CLIGHT);
+    *Hreceiver_clock_bias = I_1x1 * CLIGHT;
   }
 
   return Vector1(error);

Original file line number	Diff line number	Diff line change
`@@ -70,7 +70,7 @@ Vector PseudorangeFactor::evaluateError(`
`70`	`70`	`}`
`71`	`71`
`72`	`72`	`if (Hreceiver_clock_bias) {`
`73`		`- *Hreceiver_clock_bias = Matrix11(CLIGHT);`
	`73`	`+ Hreceiver_clock_bias = I_1x1 CLIGHT;`
`74`	`74`	`}`
`75`	`75`
`76`	`76`	`return Vector1(error);`