Fix internal error when both reset and prop_cov are set to False in IMUPreintegrator #281
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
wang-chen
reviewed
Sep 22, 2023
| @@ -98,12 +98,14 @@ def __init__(self, pos = torch.zeros(3), | |||
| reset = False): | |||
| super().__init__() | |||
| self.reset, self.prop_cov = reset, prop_cov | |||
| if not self.reset and not self.prop_cov: | |||
| raise RuntimeError('In IMUPreintegrator, prop_cov must be set to True if reset = False.') | |||
There was a problem hiding this comment.
@haleqiu Can you confirm this msg of runtime error is correct?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
When initializing IMUPreintegrator, if we set both parameter prop_cov and reset to False, then an internal error UnboundLocalError: local variable 'Rij' referenced before assignment will occur when doing preintegration.
I add a parameter check in the initialization of IMUPreintegrator, to avoid this internal error.