pose_extrapolator.cc

[xbcdbc]

At line 115，i see “const transform::Rigid3d odometry_pose_delta =odometry_data_newest.pose.inverse() * odometry_data_oldest.pose;” However，at line 178， i see “ angular_velocity_from_poses_ = transform::RotationQuaternionToAngleAxisVector( oldest_pose.rotation().inverse() * newest_pose.rotation()) / queue_delta;”，I think this code should be “ angular_velocity_from_poses_ = transform::RotationQuaternionToAngleAxisVector( newest_pose.rotation().inverse() * oldest_pose.rotation()) / queue_delta;”？wait for your ans，thanks.

[xbcdbc]

this question is for the file "pose_extrapolator.cc"

[vagrant-drift]

because first case divide ：odometry_time_delta const double odometry_time_delta = common::ToSeconds(odometry_data_oldest.time - odometry_data_newest.time);

but second case divide ：queue_delta const double queue_delta = common::ToSeconds(newest_time - oldest_time);