A question about the jacobian of residual

[KOTOKORURU]

in forster 15'RSS,According to the "lift-solve-retract" method the increment of position is pi = pi+Ri*dpi and so on, but in your code is pi = pi+dpi

and am i misunderstand the papper or, your code different from the formula indeed?

[zdw-qingdao]

use different residual terms to calculate the jacobian .the jacobian is different,and the update uses the same different terms. it is both right.