Ross Hartley

Apologies for the very delayed response. The covariance matrix was generated by assuming some values of encoder noise and mapping it though the kinematic Jacobian to get the 6x6 matrix....

There may be a Matlab version mismatch or some additional non-default configuration that was set. I unfortunately no longer have access to a Matlab license and cannot debug this example...

Have you pulled the latest commits to FROST?

We have seen this issue before. It has to do with the computer running out of memory when compiling the functions. Make sure to only compile one function at a...

[RIEKF_ErrorDynamics.pdf](https://github.com/UMich-BipedLab/Contact-Aided-Invariant-EKF/files/3090476/RIEKF_ErrorDynamics.pdf)

Let me know if that answers your question. It is simply applying the chain rule and making a first-order approximation.