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                                            CCNY Robotics Lab

ch3 3.76 公式对应代码错误

https://github1s.com/gaoxiang12/slam_in_autonomous_driving/blob/master/src/ch3/eskf.hpp#L270-L271 这一段代码应该为： ``` double velo_l = options_.wheel_radius_ * odom.left_pulse_ * 2 * M_PI / options_.circle_pulse_ * options_.odom_span_;